Reduced-order observer-predictor design for a class of output-delayed systems

In this paper, the problem of nonlinear reduced-order observer-predictor design for a class of systems with constant output-delay is discussed. The proposed observer design is an extension of our previous work. This extension, based on a Lyapunov analysis, consists in synthesising a reduced order predictor observer in order to limit calculations as much as possible while guaranteeing an exponential convergence. Comparing to other observer designs, ours is characterised by a simpler structure with only one synthesis parameter. A relation between this parameter and the maximum value of the constant delay, which ensures the global exponential convergence, is established. To show the efficiency of our proposed approach, numerical simulations have been performed on both an academic example and a well-known benchmark.