Automatica, Vol.41, No.10, 1821-1824, 2005
A note on the robustness of high-gain-observer-based controllers to unmodeled actuator and sensor dynamics
It is shown that a nonlinear output feedback stabilizing controller, which combines a globally bounded state feedback controller with a high-gain observer, is robust with respect to unmodeled fast actuator and sensor dynamics. The actuator and sensor dynamics need to be sufficiently fast relative to the dynamics of the nominal closed-loop system under state feedback, but they need not be faster than the observer dynamics. (c) 2005 Elsevier Ltd. All rights reserved.
Keywords:actuators;high-gain observers;nonlinear control;robustness to modeling errors;sensors;singular perturbation methods