In this paper, a novel method for the design of robust nonlinear observer in the H ∞ framework for Lipschitz nonlinear systems is proposed. For this purpose, a new dynamical structure is introduced that ensures the stability of observer error dynamics. Design innovation is the use of dynamic gain in the sliding mode observer. The additional degree of freedom provided by this dynamic formulation is exploited to deal with the nonlinear term. The performance of this stable H ∞ observer is better than conventional static gain observers and the dynamic Luenberger observer. The compensator is designed in such a way that, while ensuring the stability of the closed-loop system, it prevents performance loss in the presence of the nonlinearities. By the proposed approach, the observer is robust to nonlinear uncertainties because of increasing the Lipschitz constant. Also, the design procedure in the presence of system and measurement noises is addressed. Finally, the simulation of our methodology is conducted on a nonlinear system to illustrate the advantage of this work in comparison with other observers.

中文翻译：

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一类非线性系统的鲁棒动态滑模观测器设计

在本文中，提出了一种在Lipschitz 非线性系统的H ∞ 框架下设计鲁棒非线性观测器的新方法。为此，引入了一种新的动力学结构，以确保观察者误差动力学的稳定性。设计创新是在滑模观测器中使用动态增益。利用此动态公式提供的额外自由度来处理非线性项。这种稳定的 H ∞ 观测器的性能优于传统的静态增益观测器和动态 Luenberger 观测器。补偿器的设计方式是，在确保闭环系统稳定性的同时，防止出现非线性时的性能损失。通过提议的方法，由于增加 Lipschitz 常数，观测器对非线性不确定性具有鲁棒性。此外，还讨论了存在系统和测量噪声时的设计程序。最后，我们的方法的模拟是在非线性系统上进行的，以说明这项工作与其他观察者相比的优势。