Estimator Design Using Feedback Linearization 

Feedback linearization also allows for the design of nonlinear estimators using linear techniques. Estimate the yaw angle and the yaw rate for a ship with hull length and speed , based on Norrbin's model and using feedback linearization. »

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The model is completely feedback linearizable.

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Compute a set of estimator gains using pole placement.

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Assemble the nonlinear estimator.

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Plot the estimated state trajectories for a specific ship speed.

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Compute the actual state trajectories.

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Compare the actual and estimated yaw angles and yaw rates.

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