Disturbance Attenuation Control via Minimal-Order Observer with a Function of Estimating Unmeasurable Inputs

Katsuhiko Fuwa and Tatsuo Narikiyo


full-order observer, minimal-order observer, disturbance attenuation, estimator of unknown inputs, output estimator, internal stability


A compensator with a function of estimating unmeasurable inputs based on a full-order observer has been already proposed. However, it seems very difficult to synthesize the disturbance attenuation controller based on the minimal-order observer, because the innovation is equal to zero. In this paper, a novel synthesis method of the compensator based on the minimal-order observer is studied. The basic design idea is based on the fact that the full-order observer can be decomposed into the minimal-order observer and the output estimator.

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