Design of robust descriptor observer with application to robotic systems

This paper addresses a problem of robust H∞ observer design for discrete-time descriptor systems. First, a bounded real lemma which is used for observer design is proposed. Then, a method of designing a robust H∞ observer is proposed by applying the derived bounded real lemma. Initial solution of the observer design problem is obtained by solving a linear matrix inequality and an iterative procedure is proposed to improve H∞ performance. Numerical examples of robotic systems are presented to illustrate the effectiveness of the proposed design procedure.