Mean-square H∞ filtering for stochastic systems: Application to a 2DOF helicopter

This paper designs the central finite-dimensional H"~ filter for linear stochastic systems with integral-quadratically bounded deterministic disturbances, that is suboptimal for a given threshold @c with respect to a modified Bolza-Meyer quadratic criterion including the attenuation control term with the opposite sign. The original H"~ filtering problem for a linear stochastic system is reduced to the corresponding mean-square H"2 filtering problem, using the technique proposed in Doyle (1989) [1]. In the example, the designed filter is applied to estimation of the pitch and yaw angles of a two degrees of freedom (2DOF) helicopter.

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