Approximate Method for Synthesizing Continuous Joint Estimation and Control Systems Via the State-Dependent Riccati Equation Technique

The problem of approximate synthesis of a closed loop nonlinear continuous system of joint estimation and control is considered. An approach is used based on the application of the idea of the separation theorem for linear dynamical systems. Using the factorization operation, a nonlinear system is transformed into a structure similar to a linear system, and algorithms for synthesizing an optimal linear controller and state observer are applied to the transformed system, a feature of which is the dependence of the matrices included in the corresponding Riccati equations on the state vector. An example of the synthesis of a state observer and a controller is given, demonstrating the application of the proposed algorithm.

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