Sensitivity to high-frequency measurement noise of nonlinear high-gain observers

Alessandro Astolfi (1, 2) , Lorenzo Marconi (2) , Laurent Praly (3) , Andrew Teel (4)

1 DEEE - Department of Electrical and Electronic Engineering [London]
2 University of Bologna/Università di Bologna
3 CAS - Centre Automatique et Systèmes
4 ECE-UCSB - Department of Electrical and Computer Engineering [Santa Barbara]

This paper deals with the characterisation of the sensitivity to high-frequency measurement noise of nonlinear high-gain observers. The proposed tool provides bounds for the steady-state estimate in presence of noise when the high-gain parameter characterising the speed of convergence of the observer is fixed. The nonlinear analysis captures the effect of the noise frequency showing the “low-pass” filtering properties of the observer.

Domaines: Automatique / Robotique

Alessandro Astolfi, Lorenzo Marconi, Laurent Praly, Andrew Teel. Sensitivity to high-frequency measurement noise of nonlinear high-gain observers. NOLCOS 2016, 10th IFAC Symposium on Nonlinear Control Systems, Aug 2016, Monterey, United States. pp.874 - 878. ⟨hal-01445370⟩