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A Nonlinear High-Gain Observer for Systems With Measurement Noise in a Feedback Control Framework

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2 Author(s)
Prasov, A.A. ; Lincoln Lab., Massachusetts Inst. of Technol., Lexington, MA, USA ; Khalil, H.K.

We address the problem of state estimation for a class of nonlinear systems with measurement noise in the context of feedback control. It is well-known that high-gain observers are robust against model uncertainty and disturbances, but sensitive to measurement noise when implemented in a feedback loop. This work presents the benefits of a nonlinear-gain structure in the innovation process of the high-gain observer, in order to overcome the tradeoff between fast state reconstruction and measurement noise attenuation. The goal is to generate a larger observer gain during the transient response than in the steady-state response. Thus, by reducing the observer gain after achieving satisfactory state estimates, the effect of noise on the steady-state performance is reduced. Moreover, the nonlinear-gain observer presented in this paper is shown to surpass the system performance achieved when using comparable linear-gain observers. The proof argues boundedness and ultimate boundedness of the closed-loop system under the proposed output feedback.

Published in:

Automatic Control, IEEE Transactions on  (Volume:58 ,  Issue: 3 )