Publication

Robust unknown input observer design for uncertain and noisy OSL-QIB nonlinear systems

Conference Article

Conference

European Control Conference (ECC)

Edition

2025

Pages

2390-2395

Doc link

http://dx.doi.org/10.23919/ECC65951.2025.11187166

File

Download the digital copy of the doc pdf document

Authors

Abstract

In this paper, the problem of designing a robust unknown input observer (RUIO) for quadratically inner bounded (QIB), one-sided Lipschitz (OSL) nonlinear systems in the presence of noise and unknown inputs is addressed. This RUIO is formulated as a convex optimization problem where parameter uncertainty and noise are considered. Sufficient conditions for observer gain synthesis are shown to be equivalent to solving a finite set of Linear Matrix Inequalities (LMIs) and a Linear Matrix Equality (LME). Two illustrative examples, a bioreactor for biomass production from substrate consumption and a robot manipulator, are used to test the effectiveness of the approach in the presence of unknown inputs, parameter uncertainty, and measurement noise.

Categories

control theory.

Author keywords

Unknown Input Observer , One Sided Lipschitz , Quadratically Inner Bounded , Robust Observer design , Linear Matrix Inequality

Scientific reference

J.P. Arango, L. Etienne, E. Duviella, K. Langueh, P. Segovia and V. Puig. Robust unknown input observer design for uncertain and noisy OSL-QIB nonlinear systems, 2025 European Control Conference, 2025, , pp. 2390-2395.