Speaker Prof. Jochen Trumpf
School of Engineering, Australian National University, Australia
Date｜Time April 17 (Friday), 2026｜09:00
Zoom https://snu-ac-kr.zoom.us/my/jingyu.lee
Abstract
We show that any asymptotic observer for a non-linear repeatable system on a differentiable manifold contains a full internal model of the plant as long as the observer is constructed on a state manifold that is a fibre bundle over the state manifold of the plant and observer trajectories are locally fibre-bounded. Examples of repeatable systems are controllable systems and kinematic systems. The result follows from an abstract, set-theoretic internal model principle that generalises the known results for classical LTI systems, behavioural systems, and systems described by injective co-generator signal modules (Oberst’s algebraic analysis approach to system theory). Most of the results in this talk were presented at the MTNS in 2022 and 2024.
Biography
Jochen Trumpf received the Dipl.-Math. and Dr. rer. nat. degrees in mathematics from the University of Würzburg, Germany, in 1997 and 2002, respectively. He is currently a Professor in the School of Engineering at the Australian National University. His research interests include observer theory and design, linear systems theory and optimization on manifolds with applications in robotics, computer vision and wireless communication. He currently serves as Associate Editor for Mathematics of Control, Signals, and Systems (MCSS).
