H∞ Dynamic Observer Design for Nonlinear Uncertain Systems with Disturbances

This paper proposed an H
∞
dynamic observer for a class of nonlinear disturbed systems with uncertainties, where the uncertainties are assumed to be in both system matrix A and measurement matrix C. Based on the algebraic constraints obtained from the unbiased estimation error, the observer design issue is transformed into the asymptotically stability analysis problem. By constructing a Lyapunov function, the sufficient criterions of the observer design are derived in terms of linear matrix equality (LMI) to guarantee the H
∞
performance. The effectiveness of the proposed method is demonstrated by using a numerical example.