Robust H Observer Design for a Class of Nonlinear Uncertain Systems via Convex Optimization

A new approach of robust Hinfin observer design for a class of Lipschitz nonlinear systems with time-varying uncertainties is proposed in the LMI framework. The admissible Lipschitz constant of the system and the disturbance attenuation level are maximized simultaneously through convex multiobjective optimization. The resulting Hinfin observer guarantees asymptotic stability of the estimation error dynamics with exponential convergence and is robust against nonlinear additive uncertainty and time-varying parametric uncertainties. Explicit bounds on the nonlinear uncertainty are derived based on norm-wise and element-wise robustness analysis.

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