... the empirical basis vectors. A weighted inner product is defined to form a Hilbert space and the terrain surface vectors are projected onto the set of analytic basis vectors. The weighting matrix is developed such that these projections are insensitive to the number and placement of the discrete transverse...

... nonlinear disturbance observer can be integrated with a linear/nonlinear controller to improve its disturbance attenuation ability for nonlinear systems under harmonics. nonlinear systems stability observers harmonics suppression Hilbert spaces Nonlinear Systems Disturbance Attenuation...