On the state observer design for bilinear systems with bounded inputs subjected to unmeasurable disturbances

In this paper, a full-order state observer design for bounded inputs time-invariant bilinear systems subjected to unknown disturbances is investigated. We propose a sufficient condition to determine the estimator´s gain matrix parameter K_h and K_ei such that the dynamics of the observer error is stable. The result is derived via the Lyapunov stability theorem. A numerical example is presented to illustrate the effectiveness of our results