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运用微分方程方法，讨论了一类满足Ｌｉｐｓｃｈｉｔｚ条件的非线性系统观测器的设计，结论表明，稳定观测器的存在不仅与系统矩阵的特征值有关，而且与矩阵对距离不可观测性的大小有关。给出的代数设计方法以条件数最小为目标准则，根据梯度下降法原理，用ＭＡＴＬＡＢ编写代码，设计者只须提供初值，程序即自动完成观测器设计，文末给出了释例。
By using the method of differential equations, the design of a class of nonlinear observer with Lipschitz condition is discussed. The conclusion shows that the existence of the stationary observer is not only related to the eigenvalue of the system matrix but also to the magnitude of the unobservability of the matrix. The algebraic design method is based on the minimum number of conditions as the objective criterion. According to the principle of gradient descent method, the code is written by MATLAB. The designer only needs to provide the initial value and the program automatically completes the observer design.