{
  "abstract": "Observer design for nonlinear systems is a relevant and challenging task in systems and control design. In this work, we follow the idea of embedding the system in the class of nonlinear parameter-varying systems to benefit from linear structures as in a standard LPV embedding while keeping some nonlinear structures and, thus, reducing the numbers of scheduling-parameters in the representation. We lay out the NLPV observer design procedure for general nonlinear systems, propose a number of improvements, and exemplify the application for a two-arm robot model. In a numerical study, we compare the performance of the NLPV design to established standard nonlinear approaches such as the \\emph{extended Kalman filter} and the \\emph{moving horizon estimation}.",
  "abstract_shown": true,
  "affiliations": [],
  "article_type": null,
  "arxiv": "2609.18603",
  "author_total": 3,
  "authors": [
    {
      "name": "Jiaxin Ji"
    },
    {
      "name": "Shivaraj Mohite"
    },
    {
      "name": "Jan Heiland"
    }
  ],
  "bibtex": "https://research.draconitic.com/paper/9v07a3nagz676.bib",
  "cited_by": 0,
  "doi": "10.48550/arxiv.2609.18603",
  "fulltext_url": null,
  "id": "9v07a3nagz676",
  "issns": [],
  "landing_url": "https://arxiv.org/abs/2609.18603",
  "language": null,
  "licence": "LicenseRef-arXiv-nonexclusive-1.0",
  "licence_label": "arXiv licence",
  "licence_source": "article",
  "licence_url": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
  "metadata_licence": "CC0-1.0",
  "native_subjects": [
    [
      "arxiv",
      "math.OC"
    ],
    [
      "openalex",
      "2207|Control Systems and Identification"
    ]
  ],
  "openalex": "W7213494770",
  "pdf_url": "https://arxiv.org/pdf/2609.18603",
  "pmcid": null,
  "pmid": null,
  "published": "2026-09-16",
  "publisher": null,
  "ris": "https://research.draconitic.com/paper/9v07a3nagz676.ris",
  "sources": [
    {
      "first_seen": "2026-10-30T12:22:04Z",
      "native_id": "2609.18603",
      "source": "arxiv",
      "url": "https://arxiv.org/abs/2609.18603"
    }
  ],
  "subjects": [
    {
      "field": "mathematics",
      "origin": "arxiv:math.OC",
      "subfield": "optimisation-control"
    }
  ],
  "title": "Nonlinear parameter-varying embeddings for nonlinear state estimation with application to a two-link robot manipulator",
  "title_text": "Nonlinear parameter-varying embeddings for nonlinear state estimation with application to a two-link robot manipulator",
  "type": "preprint",
  "updated_at": "2026-10-30T12:22:04Z",
  "url": "https://research.draconitic.com/paper/9v07a3nagz676",
  "venue": "arXiv",
  "versions": []
}