Abstract
The stability of sliding-mode estimators for a class of nonlinear systems with Lipschitz nonlinearities has been studied. Conditions have been found to guarantee asymptotic convergence to zero of the estimation error in the absence of noise and non-divergence if the state perturbations and measurement noise are bounded. These conditions may be expressed by means of an algebraic Riccati equation. A method is proposed to find a suitable solution to the Riccati equation on which the design of the estimator is based. The performance of the resulting sliding-mode filter minimizes an upper bound on the asymptotic estimation error. Simulation results with comparisons with an extended Kalman filter are presented for a gas-tank system.
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