How to design a observer for nonlinear affine uncertain system with exogenous disturbance input?

09 September 2017 1 4K Report

An uncertain SISO nonlinear system affine in control with a mismatched exogenous disturbance input is given as follows:

x_dot = (A+delta(A)) x + B u + f(x) + D d

y=Cx

where x: states; A:system matrix, delta(A)=uncertain A matrix; B: Input matrix; f(x): nonlinear function; d: disturbance input. The disturbance input and the control inputs are at different channels (appearing in different state sapce equations).

Q/ How to design an observer for such a system?

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