A Nonlinear Filter with Constant‐Gains Using a Pseudo‐Formal Linearization Method Based on Chebyshev Expansion

This paper deals with a design of a nonlinear filter using a pseudo‐formal linearization method based on Chebyshev expansion with constant filter gains. The given nonlinear dynamic and measurement equations are piecewisely linearized by a formal linearization method using Chebyshev expansion, therefore the steady‐state Kalman filter can be applied for each linearized system. Then the resulting filters are smoothly united into a single nonlinear filter by an automatic choosing function. We demonstrate the proposed method in nonlinear systems to verify the effectiveness. © 2022 Institute of Electrical Engineers of Japan. Published by Wiley Periodicals LLC.