Nonlinear System State Estimation and Controller Design Using Modal Series

Modal series is a new approach for modeling and analysis of nonlinear systems. This paper provides application of modal series to state estimation of nonlinear systems and introduces a new state estimation approach for nonlinear systems which used a modal series model of nonlinear systems for Kalman filtering. The method implies a sequential use of Kalman filters which each one tries to decrease estimation errors of states. To validate the proposed approach, results of simulation of LQG control of a cart and pole using proposed approach has been compared with classical LQG control.