Robust output-control for uncertain linear systems: Homogeneous differentiator-based observer approach

Hector Ríos (1) , Manuel Mera (2) , Denis Efimov (3, 4) , Andrey Polyakov (3, 4)

1 UC Santa Barbara - University of California [Santa Barbara]
2 IPN - Instituto Politecnico Nacional [Mexico]
3 CRIStAL - Centre de Recherche en Informatique, Signal et Automatique de Lille - UMR 9189
4 NON-A - Non-Asymptotic estimation for online systems

This paper deals with the design of a robust control for linear systems with external disturbances using a homogeneous differentiator-based observer based on a implicit Lyapunov function approach. Sufficient conditions for stability of the closed-loop system in the presence of external disturbances are obtained and represented by linear matrix inequalities. The parameter tuning for both controller and observer is formulated as a semi-definite programming problem with linear matrix inequalities constraints. Simulation results illustrate the feasibility of the proposed approach and some improvements with respect to the classic linear observer approach.

Mots clés: closed-loop stability; homogeneous differentiator; uncertain linear systems

Domaines: Automatique / Robotique

Hector Ríos, Manuel Mera, Denis Efimov, Andrey Polyakov. Robust output-control for uncertain linear systems: Homogeneous differentiator-based observer approach. International Journal of Robust and Nonlinear Control, 2017, 27 (11), pp.1895-1914. ⟨10.1002/rnc.3643⟩. ⟨hal-01405383⟩