State Observer for Continuous Lipschitz Systems with Dicrete Measurements and Uncertain Disturbances

Method for the synthesis of state observer for continuous systems with sampled-data measurements, Lipschitz nonlinearities, uncertain disturbances and measurement errors is proposed. It based on the using of a continuous observer, which is modified for the case of discrete measurements. Sufficient conditions for observers to provide finite time boundedness of the estimation error with respect to the given sets of initial deviations and admissible trajectories are expressed in the solvability of differential-difference linear matrix inequalities. The results are illustrated on the example of manipulator with flexible joint links.