Global finite-time observers for a class of nonlinear systems
一类非线性系统全局有限时间观测器设计

Finite-time stability is investigated for a class of nonlinear systems and a new sufficient condition for global finite-time stability is presented. By using homogeneous theory and Lyapunov theory, together with an update law for the gain, we develop a global finite-time observer for a class of nonlinear systems with a lower-triangular structure. The observer is continuous but nonsmooth, which can reconstruct the states precisely in a finite-time interval.