DocumentCode :
39993
Title :
A Nonlinear High-Gain Observer for Systems With Measurement Noise in a Feedback Control Framework
Author :
Prasov, A.A. ; Khalil, Hassan K.
Author_Institution :
Lincoln Lab., Massachusetts Inst. of Technol., Lexington, MA, USA
Volume :
58
Issue :
3
fYear :
2013
fDate :
Mar-13
Firstpage :
569
Lastpage :
580
Abstract :
We address the problem of state estimation for a class of nonlinear systems with measurement noise in the context of feedback control. It is well-known that high-gain observers are robust against model uncertainty and disturbances, but sensitive to measurement noise when implemented in a feedback loop. This work presents the benefits of a nonlinear-gain structure in the innovation process of the high-gain observer, in order to overcome the tradeoff between fast state reconstruction and measurement noise attenuation. The goal is to generate a larger observer gain during the transient response than in the steady-state response. Thus, by reducing the observer gain after achieving satisfactory state estimates, the effect of noise on the steady-state performance is reduced. Moreover, the nonlinear-gain observer presented in this paper is shown to surpass the system performance achieved when using comparable linear-gain observers. The proof argues boundedness and ultimate boundedness of the closed-loop system under the proposed output feedback.
Keywords :
feedback; nonlinear systems; observers; transient response; closed loop system; fast state reconstruction; feedback control framework; feedback loop; high gain observers; innovation process; measurement noise attenuation; model uncertainty; nonlinear gain observer; nonlinear gain structure; nonlinear high gain observer; nonlinear system; output feedback; state estimates; state estimation; steady state performance; steady state response; transient response; Closed loop systems; Estimation error; Noise; Noise measurement; Observers; Steady-state; Transient analysis; Noise; nonlinear control systems; observers;
fLanguage :
English
Journal_Title :
Automatic Control, IEEE Transactions on
Publisher :
ieee
ISSN :
0018-9286
Type :
jour
DOI :
10.1109/TAC.2012.2218063
Filename :
6297445
Link To Document :
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