摘要
In this paper, we present a sampled-data nonlinear extended state observer （NLESO） design method for a class of nonlinear systems with uncertainties and discrete time output measurement. To accommodate the inter-sample dynamics, an inter-sample output predictor is employed in the structure of the NLESO to estimate the system output in the sampling intervals, where the prediction is used in the proposed observer instead of the system output. The exponential convergence of the sampled-data NLESO is also discussed and a sufficient condition is given by the Lyapunov method. A numerical example is provided to illustrate the performance of the proposed observer.
In this paper, we present a sampled-data nonlinear extended state observer （NLESO） design method for a class of nonlinear systems with uncertainties and discrete time output measurement. To accommodate the inter-sample dynamics, an inter-sample output predictor is employed in the structure of the NLESO to estimate the system output in the sampling intervals, where the prediction is used in the proposed observer instead of the system output. The exponential convergence of the sampled-data NLESO is also discussed and a sufficient condition is given by the Lyapunov method. A numerical example is provided to illustrate the performance of the proposed observer.
基金
This work was supported by the National Natural Science Foundation of China （Nos. 61327003, 61004004）, the China Fundamental Research Funds for the Central Universities （Nos. 10062013YWF13-ZY-68, 10062014YWF-14-ZDHXY-018） and the Tsinghua University Initiative Scientific Research Program （No. 2010Z02270）
