Abstract
In this paper, we consider the H ∞ filters design for singular bilinear systems. The approach is based on the parameterized solution of a set of constrained Sylvester equations. The exponential convergence and l 2 gain attenuation problems are solved by using the bounded real lemma, which leads to linear matrix inequalities (LMI) formulation. Finally, a detailed design procedure is given for the estimation of the states of a flexible joint robot, which demonstrates the effectiveness of the proposed method.
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Recommended by Associate Editor Izumi Masubuchi under the direction of Editor Yoshito Ohta.
Mohamed Zerrougui received his engineering degree in Industrial Control from the department of electronics at Sétif University, Algeria, in 2007, he obtained his Master’s Degree in Automatic Control from the University of Reims Champagne Ardenne (URCA), France, in 2008. He received his Ph.D. degree in Automatic Control from the Université Henri Poincaré of Nancy I, France, in 2011. He is now an Associated Professor in Automatic Control at the Université d’Aix Marseille and is with the Laboratoire des Sciences de l’Information et des Systèmes. His main research interests are in estimation, filtering, control and diagnosis of nonlinear dynamic systems.
Mohamed Darouach received his “Docteur Ingénieur” and “Docteur d’Etat” degrees from the Université Henri Poincaré of Nancy I, France, in 1983 and 1986 respectively. He is currently with Université de Lorraine where he holds a position of Professor in Automatic Control and is with the Centre de Recherche en Automatique de Nancy (CRAN, CNRS). From 2005 to 2013 he was Vice Director of CRAN and since 2013 he is Vice Director of the University Institute of Technology (IUT) of Longwy, Université de Lorraine. His current research interests include observer theory and application, fault detection and robust control.
Latifa Boutat-Baddas received her Ph.D. degree in Automatic Control from the University of Cergy Pontoise, France in 2002. She has been with the Equipe Commande des Systèmes (ECS) at the Ecole Nationale Superieure d’Electronique et de ses Applications (ENSEA). She is now an Associated Professor in Automatic Control at the Université de Lorraine and is with the Centre de Recherche en Automatique de Nancy (CRAN, CNRS). Her research interests include nonlinear systems analysis, observer theory and nonlinear control.
Harouna Souley Ali received his Ph.D. degree in Automatic Control from the Université Henri Poincaré of Nancy, France, in 2002. He is now an Associated Professor in Automatic Control at the Université de Lorraine (IUT Henri Poincaré de Longwy where he is Head of Department of Electrical Engineering and Industrial Computing) and is with the Centre de Recherche en Automatique de Nancy (CRAN, CNRS). His current research topics are in the area of robust control and filtering of linear and nonlinear systems.
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Zerrougui, M., Darouach, M., Boutat-Baddas, L. et al. H ∞ filtering for singular bilinear systems with application to a single-link flexible-joint robot. Int. J. Control Autom. Syst. 12, 590–598 (2014). https://doi.org/10.1007/s12555-013-0117-6
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DOI: https://doi.org/10.1007/s12555-013-0117-6