<?xml version="1.0" encoding="utf-8"?>
<TEI xmlns="http://www.tei-c.org/ns/1.0" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns:hal="http://hal.archives-ouvertes.fr/" xmlns:gml="http://www.opengis.net/gml/3.3/" xmlns:gmlce="http://www.opengis.net/gml/3.3/ce" version="1.1" xsi:schemaLocation="http://www.tei-c.org/ns/1.0 http://api.archives-ouvertes.fr/documents/aofr-sword.xsd">
  <teiHeader>
    <fileDesc>
      <titleStmt>
        <title>HAL TEI export of hal-04278845</title>
      </titleStmt>
      <publicationStmt>
        <distributor>CCSD</distributor>
        <availability status="restricted">
          <licence target="https://creativecommons.org/publicdomain/zero/1.0/">CC0 1.0 - Universal</licence>
        </availability>
        <date when="2026-05-10T19:27:49+02:00"/>
      </publicationStmt>
      <sourceDesc>
        <p part="N">HAL API Platform</p>
      </sourceDesc>
    </fileDesc>
  </teiHeader>
  <text>
    <body>
      <listBibl>
        <biblFull>
          <titleStmt>
            <title xml:lang="en">A sufficient condition to design unknown input observers for nonlinear systems with arbitrary relative degree</title>
            <author role="aut">
              <persName>
                <forename type="first">Pedro</forename>
                <surname>Coutinho</surname>
              </persName>
              <idno type="idhal" notation="numeric">1306104</idno>
              <idno type="halauthorid" notation="string">317681-1306104</idno>
              <idno type="ORCID">https://orcid.org/0000-0002-6043-7103</idno>
              <affiliation ref="#struct-1002356"/>
            </author>
            <author role="aut">
              <persName>
                <forename type="first">Iury</forename>
                <surname>Bessa</surname>
              </persName>
              <idno type="idhal" notation="numeric">1236839</idno>
              <idno type="halauthorid" notation="string">2755790-1236839</idno>
              <idno type="ORCID">https://orcid.org/0000-0002-6603-3476</idno>
              <affiliation ref="#struct-196923"/>
              <affiliation ref="#struct-540701"/>
            </author>
            <author role="aut">
              <persName>
                <forename type="first">Wen‐bo</forename>
                <surname>Xie</surname>
              </persName>
              <idno type="idhal" notation="numeric">1306079</idno>
              <idno type="halauthorid" notation="string">2948929-1306079</idno>
              <idno type="ORCID">https://orcid.org/0000-0002-3325-2779</idno>
            </author>
            <author role="aut">
              <persName>
                <forename type="first">Tran Anh-Tu</forename>
                <surname>Nguyen</surname>
              </persName>
              <email type="md5">2750e09153bfb2f897e601f64a4b8bdf</email>
              <email type="domain">gmail.com</email>
              <idno type="idhal" notation="string">anh-tu</idno>
              <idno type="idhal" notation="numeric">9183</idno>
              <idno type="halauthorid" notation="string">27825-9183</idno>
              <idno type="IDREF">https://www.idref.fr/175312885</idno>
              <idno type="GOOGLE SCHOLAR">https://scholar.google.fr/citations?user=eE6A1aIAAAAJ&amp;hl=fr</idno>
              <idno type="ORCID">https://orcid.org/0000-0002-9636-3927</idno>
              <idno type="VIAF">https://viaf.org/viaf/306311882</idno>
              <affiliation ref="#struct-1067790"/>
              <affiliation ref="#struct-1051411"/>
              <affiliation ref="#struct-1001263"/>
            </author>
            <author role="aut">
              <persName>
                <forename type="first">Reinaldo Martínez</forename>
                <surname>Palhares</surname>
              </persName>
              <idno type="idhal" notation="numeric">1306067</idno>
              <idno type="halauthorid" notation="string">2948930-1306067</idno>
              <idno type="ORCID">https://orcid.org/0000-0003-2470-4240</idno>
              <affiliation ref="#struct-196923"/>
            </author>
            <editor role="depositor">
              <persName>
                <forename>Anh-Tu</forename>
                <surname>Nguyen</surname>
              </persName>
              <email type="md5">2750e09153bfb2f897e601f64a4b8bdf</email>
              <email type="domain">gmail.com</email>
            </editor>
          </titleStmt>
          <editionStmt>
            <edition n="v1" type="current">
              <date type="whenSubmitted">2023-11-29 12:57:11</date>
              <date type="whenModified">2026-04-23 18:18:02</date>
              <date type="whenReleased">2023-12-01 14:42:27</date>
              <date type="whenProduced">2022-10</date>
              <date type="whenEndEmbargoed">2023-11-25</date>
              <ref type="file" target="https://uphf.hal.science/hal-04278845v1/document">
                <date notBefore="2023-11-25"/>
              </ref>
              <ref type="file" subtype="greenPublisher" n="1" target="https://uphf.hal.science/hal-04278845v1/file/RNC_21_1292_R2_FINAL.pdf" id="file-4307197-3761685">
                <date notBefore="2023-11-25"/>
              </ref>
            </edition>
            <respStmt>
              <resp>contributor</resp>
              <name key="440357">
                <persName>
                  <forename>Anh-Tu</forename>
                  <surname>Nguyen</surname>
                </persName>
                <email type="md5">2750e09153bfb2f897e601f64a4b8bdf</email>
                <email type="domain">gmail.com</email>
              </name>
            </respStmt>
          </editionStmt>
          <publicationStmt>
            <distributor>CCSD</distributor>
            <idno type="halId">hal-04278845</idno>
            <idno type="halUri">https://uphf.hal.science/hal-04278845</idno>
            <idno type="halBibtex">coutinho:hal-04278845</idno>
            <idno type="halRefHtml">&lt;i&gt;International Journal of Robust and Nonlinear Control&lt;/i&gt;, 2022, 32 (15), pp.8331-8348. &lt;a target="_blank" href="https://dx.doi.org/10.1002/rnc.6273"&gt;&amp;#x27E8;10.1002/rnc.6273&amp;#x27E9;&lt;/a&gt;</idno>
            <idno type="halRef">International Journal of Robust and Nonlinear Control, 2022, 32 (15), pp.8331-8348. &amp;#x27E8;10.1002/rnc.6273&amp;#x27E9;</idno>
            <availability status="restricted">
              <licence target="https://about.hal.science/hal-authorisation-v1/">HAL Authorization<ref corresp="#file-4307197-3761685"/></licence>
            </availability>
          </publicationStmt>
          <seriesStmt>
            <idno type="stamp" n="CNRS">CNRS - Centre national de la recherche scientifique</idno>
            <idno type="stamp" n="UNIV-AMU">Aix Marseille Université</idno>
            <idno type="stamp" n="UNIV-VALENCIENNES">Université de Valenciennes et du Hainaut-Cambresis</idno>
            <idno type="stamp" n="INSA-GROUPE">Groupe INSA</idno>
            <idno type="stamp" n="INRAE">Institut National de Recherche en Agriculture, Alimentation et Environnement</idno>
            <idno type="stamp" n="LAMIH" corresp="UNIV-VALENCIENNES">Laboratoire d’Automatique, de Mécanique et d’Informatique Industrielles et Humaines</idno>
            <idno type="stamp" n="AFMB">Architecture et Fonction des Macromolécules Biologiques</idno>
            <idno type="stamp" n="MICA-UNITES">MICA-Unités </idno>
            <idno type="stamp" n="INSA-HAUTS-DE-FRANCE" corresp="UNIV-VALENCIENNES">INSA Institut National des Sciences Appliquées Hauts-de-France</idno>
            <idno type="stamp" n="INRAEPACA">INRAE PACA</idno>
          </seriesStmt>
          <notesStmt>
            <note type="audience" n="2">International</note>
            <note type="popular" n="0">No</note>
            <note type="peer" n="1">Yes</note>
          </notesStmt>
          <sourceDesc>
            <biblStruct>
              <analytic>
                <title xml:lang="en">A sufficient condition to design unknown input observers for nonlinear systems with arbitrary relative degree</title>
                <author role="aut">
                  <persName>
                    <forename type="first">Pedro</forename>
                    <surname>Coutinho</surname>
                  </persName>
                  <idno type="idhal" notation="numeric">1306104</idno>
                  <idno type="halauthorid" notation="string">317681-1306104</idno>
                  <idno type="ORCID">https://orcid.org/0000-0002-6043-7103</idno>
                  <affiliation ref="#struct-1002356"/>
                </author>
                <author role="aut">
                  <persName>
                    <forename type="first">Iury</forename>
                    <surname>Bessa</surname>
                  </persName>
                  <idno type="idhal" notation="numeric">1236839</idno>
                  <idno type="halauthorid" notation="string">2755790-1236839</idno>
                  <idno type="ORCID">https://orcid.org/0000-0002-6603-3476</idno>
                  <affiliation ref="#struct-196923"/>
                  <affiliation ref="#struct-540701"/>
                </author>
                <author role="aut">
                  <persName>
                    <forename type="first">Wen‐bo</forename>
                    <surname>Xie</surname>
                  </persName>
                  <idno type="idhal" notation="numeric">1306079</idno>
                  <idno type="halauthorid" notation="string">2948929-1306079</idno>
                  <idno type="ORCID">https://orcid.org/0000-0002-3325-2779</idno>
                </author>
                <author role="aut">
                  <persName>
                    <forename type="first">Tran Anh-Tu</forename>
                    <surname>Nguyen</surname>
                  </persName>
                  <email type="md5">2750e09153bfb2f897e601f64a4b8bdf</email>
                  <email type="domain">gmail.com</email>
                  <idno type="idhal" notation="string">anh-tu</idno>
                  <idno type="idhal" notation="numeric">9183</idno>
                  <idno type="halauthorid" notation="string">27825-9183</idno>
                  <idno type="IDREF">https://www.idref.fr/175312885</idno>
                  <idno type="GOOGLE SCHOLAR">https://scholar.google.fr/citations?user=eE6A1aIAAAAJ&amp;hl=fr</idno>
                  <idno type="ORCID">https://orcid.org/0000-0002-9636-3927</idno>
                  <idno type="VIAF">https://viaf.org/viaf/306311882</idno>
                  <affiliation ref="#struct-1067790"/>
                  <affiliation ref="#struct-1051411"/>
                  <affiliation ref="#struct-1001263"/>
                </author>
                <author role="aut">
                  <persName>
                    <forename type="first">Reinaldo Martínez</forename>
                    <surname>Palhares</surname>
                  </persName>
                  <idno type="idhal" notation="numeric">1306067</idno>
                  <idno type="halauthorid" notation="string">2948930-1306067</idno>
                  <idno type="ORCID">https://orcid.org/0000-0003-2470-4240</idno>
                  <affiliation ref="#struct-196923"/>
                </author>
              </analytic>
              <monogr>
                <idno type="halJournalId" status="VALID">14685</idno>
                <idno type="issn">1049-8923</idno>
                <idno type="eissn">1099-1239</idno>
                <title level="j">International Journal of Robust and Nonlinear Control</title>
                <imprint>
                  <publisher>Wiley</publisher>
                  <biblScope unit="volume">32</biblScope>
                  <biblScope unit="issue">15</biblScope>
                  <biblScope unit="pp">8331-8348</biblScope>
                  <date type="datePub">2022-10</date>
                </imprint>
              </monogr>
              <idno type="doi">10.1002/rnc.6273</idno>
            </biblStruct>
          </sourceDesc>
          <profileDesc>
            <langUsage>
              <language ident="en">English</language>
            </langUsage>
            <textClass>
              <classCode scheme="halDomain" n="info.info-au">Computer Science [cs]/Automatic Control Engineering</classCode>
              <classCode scheme="halTypology" n="ART">Journal articles</classCode>
              <classCode scheme="halOldTypology" n="ART">Journal articles</classCode>
              <classCode scheme="halTreeTypology" n="ART">Journal articles</classCode>
            </textClass>
            <abstract xml:lang="en">
              <p>Abstract This article addresses the problem of state and unknown inputs (UIs) estimation for nonlinear systems with arbitrary relative degree with respect to the UIs. For this purpose, a novel nonlinear unknown input observer (UIO) is proposed, which is able to decouple the UIs by using the derivatives of the output signal. The error dynamics is attained by an exact handling and a factorization of its gradient to obtain a local polytopic representation suitable for input‐affine nonlinear systems. For that representation, a novel design condition based on convex optimization and linear matrix inequalities is proposed to exponentially stabilize the estimation error and to guarantee the validity of the proposed nonlinear UIO. Numerical simulations indicate the effectiveness of the proposed approach for different classes of nonlinear systems, for which the UIs could be totally decoupled from the state estimation.</p>
            </abstract>
          </profileDesc>
        </biblFull>
      </listBibl>
    </body>
    <back>
      <listOrg type="structures">
        <org type="laboratory" xml:id="struct-1002356" status="VALID">
          <idno type="IdRef">149981651</idno>
          <idno type="RNSR">201220260Z</idno>
          <idno type="ROR">https://ror.org/04jm8zw14</idno>
          <orgName>Architecture et fonction des macromolécules biologiques</orgName>
          <orgName type="acronym">AFMB</orgName>
          <date type="start">2020-01-01</date>
          <desc>
            <address>
              <addrLine>Faculté des Sciences de Luminy - Case 932 163, Avenue de Luminy 13288 Marseille Cedex 09</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">http://www.afmb.univ-mrs.fr/</ref>
          </desc>
          <listRelation>
            <relation name="UMR7257" active="#struct-198056" type="direct"/>
            <relation name="UMR7257" active="#struct-441569" type="direct"/>
            <relation name="UMR1408" active="#struct-577435" type="direct"/>
          </listRelation>
        </org>
        <org type="regroupinstitution" xml:id="struct-196923" status="VALID">
          <idno type="IdRef">028685059</idno>
          <idno type="ROR">https://ror.org/0176yjw32</idno>
          <orgName>Universidade Federal de Minas Gerais = Federal University of Minas Gerais</orgName>
          <orgName type="acronym">UFMG</orgName>
          <date type="start">1927-01-01</date>
          <desc>
            <address>
              <addrLine>Av. Antônio Carlos, 6627, Pampulha - Belo Horizonte</addrLine>
              <country key="BR"/>
            </address>
            <ref type="url">https://ufmg.br/</ref>
          </desc>
        </org>
        <org type="institution" xml:id="struct-540701" status="VALID">
          <idno type="ROR">https://ror.org/02263ky35</idno>
          <orgName>Federal University of Amazonas</orgName>
          <desc>
            <address>
              <addrLine>Av. General Rodrigo Octavio Jordão Ramos, 1200 Coroado I - Manaus - AM 69067-005</addrLine>
              <country key="BR"/>
            </address>
            <ref type="url">https://ufam-universidade-federal-do-amazonas.negocio.site</ref>
          </desc>
        </org>
        <org type="laboratory" xml:id="struct-1067790" status="VALID">
          <idno type="IdRef">050705253</idno>
          <idno type="ISNI">0000000122013679</idno>
          <idno type="RNSR">201220427F</idno>
          <idno type="ROR">https://ror.org/006z7v557</idno>
          <orgName>Laboratoire d'Automatique, de Mécanique et d'Informatique industrielles et Humaines - UMR 8201</orgName>
          <orgName type="acronym">LAMIH</orgName>
          <date type="start">2020-01-01</date>
          <desc>
            <address>
              <addrLine>LE MONT HOUY 59313 VALENCIENNES CEDEX 9</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">https://www.uphf.fr/LAMIH</ref>
          </desc>
          <listRelation>
            <relation name="UMR8201" active="#struct-441569" type="direct"/>
            <relation active="#struct-1001263" type="direct"/>
            <relation active="#struct-1051411" type="direct"/>
            <relation active="#struct-301232" type="indirect"/>
          </listRelation>
        </org>
        <org type="institution" xml:id="struct-1051411" status="VALID">
          <orgName>INSA Institut National des Sciences Appliquées Hauts-de-France</orgName>
          <orgName type="acronym">INSA Hauts-De-France</orgName>
          <date type="start">2019-09-09</date>
          <desc>
            <address>
              <addrLine>Voirie Communale Université Val Mont Houy, 59300 Aulnoy-Lez-Valenciennes</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">https://www.groupe-insa.fr/decouvrir/nos-ecoles/insa-hauts-de-france</ref>
          </desc>
          <listRelation>
            <relation active="#struct-301232" type="direct"/>
          </listRelation>
        </org>
        <org type="institution" xml:id="struct-1001263" status="VALID">
          <idno type="IdRef">242335675</idno>
          <idno type="ROR">https://ror.org/02ezch769</idno>
          <orgName>Université Polytechnique Hauts-de-France</orgName>
          <orgName type="acronym">UPHF</orgName>
          <date type="start">2019-09-09</date>
          <desc>
            <address>
              <addrLine>Campus Mont Houy59313 Valenciennes Cedex 9</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">http://www.uphf.fr/</ref>
          </desc>
        </org>
        <org type="institution" xml:id="struct-198056" status="VALID">
          <idno type="IdRef">15863621X</idno>
          <idno type="ISNI">0000 0001 2176 4817</idno>
          <idno type="ROR">https://ror.org/035xkbk20</idno>
          <orgName>Aix Marseille Université</orgName>
          <orgName type="acronym">AMU</orgName>
          <date type="start">2012-01-01</date>
          <desc>
            <address>
              <addrLine>Aix-Marseille UniversitéJardins du Pharo58 Boulevard Charles Livon13284 Marseille cedex 7</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">http://www.univ-amu.fr/</ref>
          </desc>
        </org>
        <org type="regroupinstitution" xml:id="struct-441569" status="VALID">
          <idno type="IdRef">02636817X</idno>
          <idno type="ISNI">0000000122597504</idno>
          <idno type="ROR">https://ror.org/02feahw73</idno>
          <orgName>Centre National de la Recherche Scientifique</orgName>
          <orgName type="acronym">CNRS</orgName>
          <date type="start">1939-10-19</date>
          <desc>
            <address>
              <country key="FR"/>
            </address>
            <ref type="url">https://www.cnrs.fr/</ref>
          </desc>
        </org>
        <org type="institution" xml:id="struct-577435" status="VALID">
          <idno type="ROR">https://ror.org/003vg9w96</idno>
          <orgName>Institut National de Recherche pour l’Agriculture, l’Alimentation et l’Environnement</orgName>
          <orgName type="acronym">INRAE</orgName>
          <date type="start">2020-01-01</date>
          <desc>
            <address>
              <country key="FR"/>
            </address>
          </desc>
        </org>
        <org type="regroupinstitution" xml:id="struct-301232" status="VALID">
          <idno type="IdRef">162105150</idno>
          <orgName>Institut National des Sciences Appliquées</orgName>
          <orgName type="acronym">INSA</orgName>
          <desc>
            <address>
              <country key="FR"/>
            </address>
          </desc>
        </org>
      </listOrg>
    </back>
  </text>
</TEI>