Observer Design for Systems With Continuous and Discrete Measurements

Abstract

Method for the synthesis of state observer for continuous systems with sampled-data measurements, Lipschitz nonlinearities, uncertain disturbances and measurement errors is proposed. It based on the using of a continuous observer, which is modified for the case of discrete measurements. Sufficient conditions for observers to provide finite time boundedness of the estimation error with respect to the given sets of initial deviations and admissible trajectories are expressed in the solvability of differential-difference linear matrix inequalities. The results are illustrated on the example of manipulator with flexible joint links.

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Authors and Affiliations

1. Institute of Mechanics and Engineering, Kazan Scientific Center, Russian Academy of Sciences, 420111, Kazan, Russia

   A. I. Malikov

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Correspondence to A. I. Malikov.

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(Submitted by D. A. Gubaidullin)

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Malikov, A.I. State Observer for Continuous Lipschitz Systems with Dicrete Measurements and Uncertain Disturbances. Lobachevskii J Math 42, 2172–2178 (2021). https://doi.org/10.1134/S1995080221090183

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• Received: 08 April 2021

• Revised: 20 April 2021

• Accepted: 29 April 2021

• Published: 01 October 2021

• Issue Date: September 2021

• DOI : https://doi.org/10.1134/S1995080221090183

Keywords:

• continuos system
• Lipschitz condition
• uncertain disturbances
• discrete measurements
• observer design

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