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Most geometric control-design methods for nonlinear systems assume that all state variables are available for feedback in real time. Unfortunately, the entire state is usually too expensive or impossible to measure, and some form of estimation is necessary. Unlike linear timeinvariant systems, where the state-estimation problem is analogous to the control-design problem, the design of a stable observer...
With high energy/power density, flexible and lightweight design, low self-discharge rates and long cycle life, lithium-ion (Li<sup>+</sup>) batteries have experienced a surging growth since being commercialized in the early 1990s [1]. They are dominant today in the consumer electronics sector. Due to continually declining manufacturing costs, they are also rapidly penetrating sectors such...
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