<?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-03337138v4</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="2026-05-16T18:17:20+02:00"/>
      </publicationStmt>
      <sourceDesc>
        <p part="N">HAL API Platform</p>
      </sourceDesc>
    </fileDesc>
  </teiHeader>
  <text>
    <body>
      <listBibl>
        <biblFull>
          <titleStmt>
            <title xml:lang="en">Observer Design for Continuous-Time Dynamical Systems</title>
            <author role="aut">
              <persName>
                <forename type="first">Pauline</forename>
                <surname>Bernard</surname>
              </persName>
              <email type="md5">f7ea3b2e5b0a6a22b839e7a939f3a481</email>
              <email type="domain">minesparis.psl.eu</email>
              <idno type="idhal" notation="string">pauline-bernard</idno>
              <idno type="idhal" notation="numeric">734891</idno>
              <idno type="halauthorid" notation="string">45669-734891</idno>
              <idno type="ORCID">https://orcid.org/0000-0002-7710-0136</idno>
              <orgName ref="#struct-301492"/>
              <affiliation ref="#struct-13898"/>
            </author>
            <author role="aut">
              <persName>
                <forename type="first">Vincent</forename>
                <surname>Andrieu</surname>
              </persName>
              <email type="md5">d37833b1f56d55d1377b036615ce4302</email>
              <email type="domain">gmail.com</email>
              <idno type="idhal" notation="string">vincent-andrieu</idno>
              <idno type="idhal" notation="numeric">6024</idno>
              <idno type="halauthorid" notation="string">6123-6024</idno>
              <idno type="ORCID">https://orcid.org/0000-0003-1877-6205</idno>
              <idno type="IDREF">https://www.idref.fr/122551265</idno>
              <affiliation ref="#struct-16266"/>
            </author>
            <author role="aut">
              <persName>
                <forename type="first">Daniele</forename>
                <surname>Astolfi</surname>
              </persName>
              <email type="md5">64abac70602b268e53e81abdbf8e422e</email>
              <email type="domain">gmail.com</email>
              <idno type="idhal" notation="string">daniele-astolfi</idno>
              <idno type="idhal" notation="numeric">172659</idno>
              <idno type="halauthorid" notation="string">36268-172659</idno>
              <idno type="ORCID">https://orcid.org/0000-0003-2690-7420</idno>
              <idno type="GOOGLE SCHOLAR">https://scholar.google.it/citations?user=CglFtqQAAAAJ&amp;hl=it&amp;oi=ao</idno>
              <idno type="IDREF">https://www.idref.fr/226106543</idno>
              <affiliation ref="#struct-441569"/>
              <affiliation ref="#struct-552962"/>
            </author>
            <editor role="depositor">
              <persName>
                <forename>Pauline</forename>
                <surname>BERNARD</surname>
              </persName>
              <email type="md5">f7ea3b2e5b0a6a22b839e7a939f3a481</email>
              <email type="domain">minesparis.psl.eu</email>
            </editor>
          </titleStmt>
          <editionStmt>
            <edition n="v1">
              <date type="whenSubmitted">2021-09-07 16:11:49</date>
            </edition>
            <edition n="v2">
              <date type="whenSubmitted">2021-11-15 18:58:55</date>
            </edition>
            <edition n="v3">
              <date type="whenSubmitted">2021-12-10 09:01:02</date>
            </edition>
            <edition n="v4" type="current">
              <date type="whenSubmitted">2022-05-02 11:54:50</date>
              <date type="whenModified">2026-05-05 15:32:02</date>
              <date type="whenReleased">2022-05-02 18:48:55</date>
              <date type="whenProduced">2022-05-23</date>
              <date type="whenEndEmbargoed">2022-05-02</date>
              <ref type="file" target="https://minesparis-psl.hal.science/hal-03337138v4/document">
                <date notBefore="2022-05-02"/>
              </ref>
              <ref type="file" subtype="author" n="1" target="https://minesparis-psl.hal.science/hal-03337138v4/file/Review_observers.pdf" id="file-3656654-3193403">
                <date notBefore="2022-05-02"/>
              </ref>
            </edition>
            <respStmt>
              <resp>contributor</resp>
              <name key="310538">
                <persName>
                  <forename>Pauline</forename>
                  <surname>BERNARD</surname>
                </persName>
                <email type="md5">f7ea3b2e5b0a6a22b839e7a939f3a481</email>
                <email type="domain">minesparis.psl.eu</email>
              </name>
            </respStmt>
          </editionStmt>
          <publicationStmt>
            <distributor>CCSD</distributor>
            <idno type="halId">hal-03337138</idno>
            <idno type="halUri">https://minesparis-psl.hal.science/hal-03337138</idno>
            <idno type="halBibtex">bernard:hal-03337138</idno>
            <idno type="halRefHtml">&lt;i&gt;Annual Reviews in Control&lt;/i&gt;, 2022, &lt;a target="_blank" href="https://dx.doi.org/10.1016/j.arcontrol.2021.11.002"&gt;&amp;#x27E8;10.1016/j.arcontrol.2021.11.002&amp;#x27E9;&lt;/a&gt;</idno>
            <idno type="halRef">Annual Reviews in Control, 2022, &amp;#x27E8;10.1016/j.arcontrol.2021.11.002&amp;#x27E9;</idno>
            <availability status="restricted">
              <licence target="https://about.hal.science/hal-authorisation-v1/">HAL Authorization<ref corresp="#file-3656654-3193403"/></licence>
            </availability>
          </publicationStmt>
          <seriesStmt>
            <idno type="stamp" n="ENSMP" corresp="PARISTECH">MINES ParisTech</idno>
            <idno type="stamp" n="CNRS">CNRS - Centre national de la recherche scientifique</idno>
            <idno type="stamp" n="UNIV-LYON1">Université Claude Bernard - Lyon I</idno>
            <idno type="stamp" n="LAGEP" corresp="UNIV-LYON1">Laboratoire d'Automatique et de Génie dEs Procédés</idno>
            <idno type="stamp" n="ENSMP_CAS" corresp="ENSMP">Automatique et systèmes (CAS)</idno>
            <idno type="stamp" n="PARISTECH">ParisTech</idno>
            <idno type="stamp" n="TDS-MACS">Réseau de recherche en Théorie des Systèmes Distribués, Modélisation, Analyse et Contrôle des Systèmes</idno>
            <idno type="stamp" n="PSL">Université Paris sciences et lettres</idno>
            <idno type="stamp" n="ENSMP_DEP_MS">Département Mathématiques et systèmes</idno>
            <idno type="stamp" n="DYCOP" corresp="LAGEPP">DYnamique, Observation et Commande des Procédés</idno>
            <idno type="stamp" n="ENSMP_DR" corresp="ENSMP">ENSMP_DR</idno>
            <idno type="stamp" n="UDL">UDL</idno>
            <idno type="stamp" n="UNIV-LYON">Université de Lyon</idno>
            <idno type="stamp" n="ENSMP-PSL" corresp="PSL">MINES ParisTech - École nationale supérieure des mines de Paris - PSL</idno>
            <idno type="stamp" n="LAGEPP" corresp="UNIV-LYON1">Laboratoire d'Automatique et de Génie dEs Procédés</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">Observer Design for Continuous-Time Dynamical Systems</title>
                <author role="aut">
                  <persName>
                    <forename type="first">Pauline</forename>
                    <surname>Bernard</surname>
                  </persName>
                  <email type="md5">f7ea3b2e5b0a6a22b839e7a939f3a481</email>
                  <email type="domain">minesparis.psl.eu</email>
                  <idno type="idhal" notation="string">pauline-bernard</idno>
                  <idno type="idhal" notation="numeric">734891</idno>
                  <idno type="halauthorid" notation="string">45669-734891</idno>
                  <idno type="ORCID">https://orcid.org/0000-0002-7710-0136</idno>
                  <orgName ref="#struct-301492"/>
                  <affiliation ref="#struct-13898"/>
                </author>
                <author role="aut">
                  <persName>
                    <forename type="first">Vincent</forename>
                    <surname>Andrieu</surname>
                  </persName>
                  <email type="md5">d37833b1f56d55d1377b036615ce4302</email>
                  <email type="domain">gmail.com</email>
                  <idno type="idhal" notation="string">vincent-andrieu</idno>
                  <idno type="idhal" notation="numeric">6024</idno>
                  <idno type="halauthorid" notation="string">6123-6024</idno>
                  <idno type="ORCID">https://orcid.org/0000-0003-1877-6205</idno>
                  <idno type="IDREF">https://www.idref.fr/122551265</idno>
                  <affiliation ref="#struct-16266"/>
                </author>
                <author role="aut">
                  <persName>
                    <forename type="first">Daniele</forename>
                    <surname>Astolfi</surname>
                  </persName>
                  <email type="md5">64abac70602b268e53e81abdbf8e422e</email>
                  <email type="domain">gmail.com</email>
                  <idno type="idhal" notation="string">daniele-astolfi</idno>
                  <idno type="idhal" notation="numeric">172659</idno>
                  <idno type="halauthorid" notation="string">36268-172659</idno>
                  <idno type="ORCID">https://orcid.org/0000-0003-2690-7420</idno>
                  <idno type="GOOGLE SCHOLAR">https://scholar.google.it/citations?user=CglFtqQAAAAJ&amp;hl=it&amp;oi=ao</idno>
                  <idno type="IDREF">https://www.idref.fr/226106543</idno>
                  <affiliation ref="#struct-441569"/>
                  <affiliation ref="#struct-552962"/>
                </author>
              </analytic>
              <monogr>
                <idno type="halJournalId" status="VALID">10547</idno>
                <idno type="issn">1872-9088</idno>
                <idno type="eissn">1872-9088</idno>
                <title level="j">Annual Reviews in Control</title>
                <imprint>
                  <publisher>Elsevier</publisher>
                  <date type="datePub">2022-05-23</date>
                  <date type="dateEpub">2022-01-19</date>
                </imprint>
              </monogr>
              <idno type="doi">10.1016/j.arcontrol.2021.11.002</idno>
            </biblStruct>
          </sourceDesc>
          <profileDesc>
            <langUsage>
              <language ident="en">English</language>
            </langUsage>
            <textClass>
              <keywords scheme="author">
                <term xml:lang="en">observability grammian</term>
                <term xml:lang="en">extended Kalman filter</term>
                <term xml:lang="en">Kalman-like observers</term>
                <term xml:lang="en">Kalman observers</term>
                <term xml:lang="en">normal forms</term>
                <term xml:lang="en">detectability</term>
                <term xml:lang="en">observability</term>
                <term xml:lang="en">observer design</term>
                <term xml:lang="en">high-gain observers</term>
                <term xml:lang="en">KKL observers</term>
                <term xml:lang="en">nonlinear Luenberger observer</term>
              </keywords>
              <classCode scheme="halDomain" n="spi.auto">Engineering Sciences [physics]/Automatic</classCode>
              <classCode scheme="halDomain" n="math.math-ds">Mathematics [math]/Dynamical Systems [math.DS]</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>We review the main design techniques of state observer design for continuous-time dynamical systems, namely algorithms which reconstruct online the full information of a dynamical process on the basis of partially measured data. Starting from necessary conditions for the existence of such asymptotic observers, we classify the available methods depending on the detectability/observability assumptions they require. We show how each class of observer relies on transforming the plant's dynamics in a particular normal form which allows the design of an observer, and how each observability condition guarantees the invertibility of its associated transformation and the convergence of the observer. Finally, some implementation aspects and open problems are briefly discussed.</p>
            </abstract>
          </profileDesc>
        </biblFull>
      </listBibl>
    </body>
    <back>
      <listOrg type="structures">
        <org type="laboratory" xml:id="struct-13898" status="VALID">
          <idno type="IdRef">151285128</idno>
          <idno type="ISNI">0000 0004 6102 8496</idno>
          <idno type="ROR">https://ror.org/018786988</idno>
          <orgName>Centre Automatique et Systèmes</orgName>
          <orgName type="acronym">CAS</orgName>
          <desc>
            <address>
              <addrLine>35 rue Saint-Honoré 77305 Fontainebleau cedex</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">http://cas.ensmp.fr</ref>
          </desc>
          <listRelation>
            <relation active="#struct-301492" type="direct"/>
            <relation active="#struct-564132" type="indirect"/>
          </listRelation>
        </org>
        <org type="laboratory" xml:id="struct-16266" status="OLD">
          <idno type="IdRef">125427298</idno>
          <orgName>Laboratoire d'automatique et de génie des procédés</orgName>
          <orgName type="acronym">LAGEP</orgName>
          <date type="start">1988-01-01</date>
          <date type="end">2018-12-31</date>
          <desc>
            <address>
              <addrLine>bât 308G ESCPE-Lyon, 2ème étage 43 bd du 11 Novembre 1918 69622 Villeurbanne Cedex</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">http://www-lagep.cpe.fr/</ref>
          </desc>
          <listRelation>
            <relation active="#struct-194495" type="direct"/>
            <relation active="#struct-301088" type="indirect"/>
            <relation active="#struct-210962" type="direct"/>
            <relation name="UMR5007 / ESA5007 / URA1328" active="#struct-441569" type="direct"/>
          </listRelation>
        </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="laboratory" xml:id="struct-552962" status="VALID">
          <idno type="IdRef">234101105</idno>
          <idno type="RNSR">199911703E</idno>
          <idno type="ROR">https://ror.org/03kfjwy31</idno>
          <orgName>Laboratoire d'automatique, de génie des procédés et de génie pharmaceutique</orgName>
          <orgName type="acronym">LAGEPP</orgName>
          <date type="start">2019-01-01</date>
          <desc>
            <address>
              <addrLine>bât 308G ESCPE-Lyon, 2ème étage 43 bd du 11 Novembre 1918 69622 Villeurbanne Cedex</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">https://lagepp.univ-lyon1.fr/</ref>
          </desc>
          <listRelation>
            <relation active="#struct-194495" type="direct"/>
            <relation active="#struct-301088" type="indirect"/>
            <relation active="#struct-210962" type="direct"/>
            <relation name="UMR5007" active="#struct-441569" type="direct"/>
          </listRelation>
        </org>
        <org type="institution" xml:id="struct-301492" status="VALID">
          <idno type="IdRef">026375249</idno>
          <idno type="ROR">https://ror.org/04y8cs423</idno>
          <orgName>Mines Paris - PSL (École nationale supérieure des mines de Paris)</orgName>
          <date type="start">1783-01-01</date>
          <desc>
            <address>
              <addrLine>60, boulevard Saint-Michel 75006 Paris</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">https://www.minesparis.psl.eu/</ref>
          </desc>
          <listRelation>
            <relation active="#struct-564132" type="direct"/>
          </listRelation>
        </org>
        <org type="regroupinstitution" xml:id="struct-564132" status="VALID">
          <idno type="IdRef">241597595</idno>
          <idno type="ISNI">0000 0004 1784 3645</idno>
          <idno type="ROR">https://ror.org/013cjyk83</idno>
          <orgName>Université Paris Sciences et Lettres</orgName>
          <orgName type="acronym">PSL</orgName>
          <desc>
            <address>
              <addrLine>60 rue Mazarine 75006 Paris</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">https://www.psl.eu/</ref>
          </desc>
        </org>
        <org type="institution" xml:id="struct-194495" status="VALID">
          <idno type="IdRef">026402823</idno>
          <idno type="ISNI">0000000121686185</idno>
          <idno type="ROR">https://ror.org/029brtt94</idno>
          <orgName>Université Claude Bernard Lyon 1</orgName>
          <orgName type="acronym">UCBL</orgName>
          <desc>
            <address>
              <addrLine>43, boulevard du 11 novembre 1918, 69622 Villeurbanne cedex</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">http://www.univ-lyon1.fr/</ref>
          </desc>
          <listRelation>
            <relation active="#struct-301088" type="direct"/>
          </listRelation>
        </org>
        <org type="regroupinstitution" xml:id="struct-301088" status="VALID">
          <idno type="ROR">https://ror.org/01rk35k63</idno>
          <orgName>Université de Lyon</orgName>
          <desc>
            <address>
              <addrLine>92 rue Pasteur - CS 30122, 69361 Lyon Cedex 07</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">https://www.universite-lyon.fr/</ref>
          </desc>
        </org>
        <org type="institution" xml:id="struct-210962" status="VALID">
          <orgName>École Supérieure de Chimie Physique Électronique de Lyon</orgName>
          <orgName type="acronym">CPE</orgName>
          <desc>
            <address>
              <addrLine>Domaine Scientifique de la DouaBâtiment Hubert Curien 43 Boulevard du 11 Novembre 191869616 Villeurbanne</addrLine>
              <country key="FR"/>
            </address>
            <ref type="url">http://www.cpe.fr/</ref>
          </desc>
        </org>
      </listOrg>
    </back>
  </text>
</TEI>