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Robust Design of the Uncertainty and Disturbance Estimator

Abstract:

In this paper, the robust design of the Uncertainty and Disturbance Estimator is tackled for a class of nonlinear systems. This strategy combines state-feedback control with a reduced-order disturbance observer. The design procedure is derived in the state-space framework, in contrast to frequency-based design methodologies, which are already studied in the literature. Based on Lyapunov theory, sufficient conditions to ensure closed-loop stability are given in terms of Linear Matrix Inequalities. Furthermore, a computable criterion is derived in order to obtain both the feedback gain matrix and the observer tuning ensuring robust asymptotic stability.