H∞ observer-based compensator design for bilinear continuous-time systems

Luenberger-like H_∞ observer-based compensator design for MIMO bilinear continuous-time systems is discussed via bang-bang control input. Both full-order and reduced-order H_∞ observer-based compensators are obtained. These compensators guarantee the stability of the estimations as well as provide disturbance attenuation for the estimation in the presence of the disturbance input. The proposed approach is based on linear matrix inequality and Lyapunov equation, which is much easier to design than solving general Hamilton-Jacobi inequality for nonlinear systems.