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Lyapunov Based Stability Analysis and Design of A Robust High-Gain Observer  

Yu, Sung-Hoon (Department of Electrical & Electronic Engineering, Yonsei University)
Hyun, Chang-Ho (Division of Electrical, Electronic & Control Engineering, Kongju National University)
Publication Information
Journal of the Institute of Electronics Engineers of Korea SC / v.47, no.2, 2010 , pp. 8-15 More about this Journal
Abstract
This paper proposes a robust high-gain observer design scheme for nonlinear systems and its stability is analyzed based on Lyapunov theory. It is assumed that their states are unmeasurable. The proposed high-gain observer has the integrator of the estimation error in dynamics. It improves the performance of high-gain observers and makes the proposed observer robust to noisy measurements, uncertainties and peaking phenomenon as well. Its stability is analyzed by the Lyapunov approach. In order to verify the effectiveness of the proposed scheme, it is applied to output feedback controllers and some comparative simulation result with the existed observer based output feedback controllers and state feedback controllers is given.
Keywords
Stability Analysis; Lyapunov theory; High-gain; Observer; Robust; Integrator;
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