This work proposes a redesign method for nonlinear observers to reduce the effect of a particular class of output disturbances. Specifically, it is considered a disturbance composed of a term generated from a known system and an unstructured term. The proposed approach does not require modifying the original observer and is based on adding a simple filter that includes an internal model of the disturbance generator. Sufficient conditions for stability of the proposed filter-observer architecture are given. Moreover, the approach is validated through numerical simulations.
Cecilia, A., Astolfi, D., Bin, M., Costa-Castelló, R. (2024). Canceling output disturbances in observer design through internal model filters. AUTOMATICA, 162, 1-9 [10.1016/j.automatica.2024.111529].
Canceling output disturbances in observer design through internal model filters
Astolfi, DanieleSecondo
;Bin, MichelangeloPenultimo
;
2024
Abstract
This work proposes a redesign method for nonlinear observers to reduce the effect of a particular class of output disturbances. Specifically, it is considered a disturbance composed of a term generated from a known system and an unstructured term. The proposed approach does not require modifying the original observer and is based on adding a simple filter that includes an internal model of the disturbance generator. Sufficient conditions for stability of the proposed filter-observer architecture are given. Moreover, the approach is validated through numerical simulations.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.