In this paper, the stubborn observer is extended to the case of low-power high-gain observers. The proposed stubborn structure includes saturation functions and a dynamic saturation level which are different from regular stubborn observers. This structure improves the performance of high-gain observers in terms of peaking phenomenon and transient response in the presence of disturbances. Moreover, by employing the recently proposed “low-power” construction, the problem of numerical implementation of high-gains is avoided. The design procedure of this paper is based on guaranteeing the input to state stability (ISS) of the estimation error. Furthermore, a robust H_∞ filter for the proposed stubborn low-power observer is designed based on Linear Matrix Inequalities (LMIs). Finally, simulation results show improvement in the performance of the proposed observer compared to the existing observers.

在本文中，顽固的观察者被扩展到低功率高增益观察者的情况。所提出的顽固结构包括饱和度函数和动态饱和度，与常规的顽固观测者不同。这种结构在出现干扰的情况下，在峰值现象和瞬态响应方面提高了高增益观察器的性能。而且，通过采用最近提出的“低功率”构造，避免了高增益的数字实现的问题。本文的设计过程基于保证估计误差的输入到状态稳定性（ISS）。此外，鲁棒ħ _∞基于线性矩阵不等式（LMI）设计了针对所提出的顽固低功耗观测器的滤波器。最后，仿真结果表明，与现有观察员相比，拟议观察员的表现有所提高。