Robust dissipative observer design for nonlinear systems

A methodology for the design of optimal robust dissipative observers is introduced. The problem is formulated as the minimization of the effect of additive disturbances on the observation error. The ℋ_∞ and the minimal invariant ellipsoid are used as performance criteria. The design procedure is reduced to a finite-dimensional optimization problem subject to a matrix inequality constraint. A comparison example is presented to compare the performance under disturbances of the proposed design methodology with the original one.