Design of robust descriptor observer with application to robotic systems

摘要

This paper addresses a problem of robustH∞observer design for discrete-time descriptor systems. First, a bounded real lemma which is used for observer design is proposed. Then, a method of designing a robustH∞observer is proposed by applying the derived bounded real lemma. Initial solution of the observer design problem is obtained by solving a linear matrix inequality and an iterative procedure is proposed to improveH∞performance. Numerical examples of robotic systems are presented to illustrate the effectiveness of the proposed design procedure.