Robust output-control for uncertain linear systems: Homogeneous differentiator-based observer approach

H. Ríos, M. Mera, D. Efimov, A. Polyakov

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This paper deals with the design of a robust control for linear systems with external disturbances using a homogeneous differentiator-based observer based on a implicit Lyapunov function approach. Sufficient conditions for stability of the closed-loop system in the presence of external disturbances are obtained and represented by linear matrix inequalities. The parameter tuning for both controller and observer is formulated as a semi-definite programming problem with linear matrix inequalities constraints. Simulation results illustrate the feasibility of the proposed approach and some improvements with respect to the classic linear observer approach.

Original languageEnglish
Pages (from-to)1895-1914
Number of pages20
JournalInternational Journal of Robust and Nonlinear Control
Issue number11
StatePublished - 25 Jul 2017

Bibliographical note

Funding Information:
This work was supported in part by the Government of Russian Federation (grant 074-U01) and the Ministry of Education and Science of Russian Federation (project 14.Z50.31.0031).

Publisher Copyright:
Copyright © 2016 John Wiley & Sons, Ltd.


  • closed-loop stability
  • homogeneous differentiator
  • uncertain linear systems


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