Robust observers for systems with parameters
This paper discusses a parameter independent observer, that is a robust observer. A frequency domain approach is employed, so the argument is closely related to Diophantine equations. At first, the definition of the robust observer is given. An observer is said robust if for each initial plant state \(x_ 0\), initial observer state \(z_ 0\) and every input u(t), each of the matrices from \(x_ 0\), \(z_ 0\), and u(s) to error is stable and proper. It is explained that if appropriate solutions to the augmented Diophantine equation exist, then robust observers can exist as well. A sufficient condition for the existence of robust observers is given in Theorem 1. The condition is stated in terms of a rank condition. A class of systems for which robust observers can be generically constructed is specified in Theorem 2. Finally, a robust regulator (pole assignment) using a robust observer is discussed. A class of systems for which robust regulators can be generically constructed is specified in Theorem 3. An example for a robust regulator is presented.
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