High gain observer design for a class of MIMO non uniformly observable uncertain systems

Abstract EN

high gain observer is proposed for a class of MIMO non-uniformly observable systems including uncertainties.

The gain of the proposed observer is issued front the resolution of a Lyapunov differential équation and its tuning can be achieved through the choice of a single scalar parameter.

The observer design is made under the assumption that the considered inputs satisfy certain persistent excitation conditions.

It is shown that in the absence of uncertainties, the observation error converges exponentially to zéro.

In the case where the uncertainties are bounded, this error can be made as small as desired by choosing high values of the observer design parameter.

A simulation example is given in order to highlight the observer performance.