Sliding-mode state observers for multi-output nonlinear systems with bounded noises on dynamics and measurements

A full-order sliding-mode state observer for a class of nonlinear continuous-time dynamic systems is proposed and conditions for the stability of the estimation error in the absence of noises are provided. If the system is affected by bounded disturbances, under such conditions the existence of an attractive invariant set for the estimation error is ensured. The design of the observer can be made via LMI techniques. Numerical results are reported to show the effectiveness of the proposed approach.