Article ID | Journal | Published Year | Pages | File Type |
---|---|---|---|---|
7109065 | Automatica | 2018 | 9 Pages |
Abstract
For the purpose of estimating the state of a linear time-invariant system with measurements subject to outliers, we propose an observer with a saturated output injection in such a way to mitigate the effect of abnormal and isolated measurement noise on the error dynamics. Stability conditions in both the continuous-time and the discrete-time cases are derived, which ensure global exponential stability to the origin for the error dynamics. Such conditions can be expressed in terms of linear matrix inequalities, allowing for a viable design by using convex optimization. The effectiveness of the approach is illustrated by means of simulations in comparison with the Luenberger observer.
Keywords
Related Topics
Physical Sciences and Engineering
Engineering
Control and Systems Engineering
Authors
Angelo Alessandri, Luca Zaccarian,