Design of a state and disturbance observer for nonlinear sampled-data strict-feedback systems with constant disturbance

We consider the design of a state and disturbance observer that is semiglobal and practical in sampling period for the exact model of nonlinear sampled-data strict-feedback systems with unknown constant disturbance. As an application of the proposed design method, we design a state and disturbance observer for sampled-data underactuated ships that are influenced by unknown constant ocean currents. We show its efficiency by simulation results.

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