Robust filtering for uncertain nonlinearly parameterized plants

We address the robust filtering problem for a wide class of systems whose state-space data assume a very general nonlinear dependence in the uncertain parameters. Our resolution methods rely on new linear matrix inequality characterizations of H₂ and H_∞ performances, which, in conjunction with suitable linearization transformations of the variables, give rise to practical and computationally tractable formulations for the robust filtering problem.