This monograph deals with energy based control of interactive robotic interfaces. The port-
Hamiltonian framework is exploited both for modeling and controlling interactive robotic …

This note proposes a robust nonlinear observer for systems with Lipschitz nonlinearity. The
proposed nonlinear observer, whose linear part adopts the linear LTR observer design …

This chapter provides some of the main ideas resulting from recent developments in
sampled-data control of nonlinear systems. We have tried to bring the basic parts of the new …

This paper proposes a comprehensive solution to persistent problems faced by nonlinear
observer design via convex optimization techniques, namely, the construction of an exact …

This paper formulates and studies the concept of quasi-Disturbance-to-Error Stability (qDES)
which characterizes robustness of a nonlinear observer to an output measurement …

We propose a redesign paradigm for stable estimators by introducing a saturation or a dead-
zone nonlinearity with adaptive thresholds on the output injection term. Such nonlinearities …

The problem of constructing full-order state estimators for a class of systems with Lipschitz
nonlinearities is addressed. By using Lyapunov functions and functionals, conditions have …

There has been an increasing interest in multi-disciplinary research on multisensor attitude
estimation technology driven by its versatility and diverse areas of application, such as …

In this paper, a full-order observer design method is proposed for port-Hamiltonian systems.
The proposed method is based on the notion of contractive port-Hamiltonian systems. It is …

We consider a special class of port-Hamiltonian systems for which we propose a design
methodology for constructing globally exponentially stable full-order observers using a …