To address the well-known noise sensitivity problems associated with high-gain observers, we insert a low-pass filter on the measurement channel. Considering nonlinear plants in observability canonical form, we first motivate an architecture where the output error is filtered by a linear system parametrized by its arbitrary order and a scalar positive gain. Our main result establishes an exponential finite gain bound for the estimation error, from the measurement noise, this gain being dependent on the high-gain and filter parameters. We also prove bounds depending on the filter parameters characterizing improved high-frequency gains from the measurement noise to the estimation error. The proposed construction is shown to behave desirably in numerical simulations.

On the use of low-pass filters in high-gain observers / Astolfi, D.; Zaccarian, L.; Jungers, M.. - In: SYSTEMS & CONTROL LETTERS. - ISSN 0167-6911. - 148:(2021), p. 104856. [10.1016/j.sysconle.2020.104856]

On the use of low-pass filters in high-gain observers

Zaccarian L.;
2021-01-01

Abstract

To address the well-known noise sensitivity problems associated with high-gain observers, we insert a low-pass filter on the measurement channel. Considering nonlinear plants in observability canonical form, we first motivate an architecture where the output error is filtered by a linear system parametrized by its arbitrary order and a scalar positive gain. Our main result establishes an exponential finite gain bound for the estimation error, from the measurement noise, this gain being dependent on the high-gain and filter parameters. We also prove bounds depending on the filter parameters characterizing improved high-frequency gains from the measurement noise to the estimation error. The proposed construction is shown to behave desirably in numerical simulations.
2021
Astolfi, D.; Zaccarian, L.; Jungers, M.
On the use of low-pass filters in high-gain observers / Astolfi, D.; Zaccarian, L.; Jungers, M.. - In: SYSTEMS & CONTROL LETTERS. - ISSN 0167-6911. - 148:(2021), p. 104856. [10.1016/j.sysconle.2020.104856]
File in questo prodotto:
Non ci sono file associati a questo prodotto.

I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione

Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11572/336234
 Attenzione

Attenzione! I dati visualizzati non sono stati sottoposti a validazione da parte dell'ateneo

Citazioni
  • ???jsp.display-item.citation.pmc??? ND
  • Scopus 23
  • ???jsp.display-item.citation.isi??? 20
social impact