H filtering for singular bilinear systems with application to a single-link flexible-joint robot

  • Mohamed Zerrougui
  • Mohamed Darouach
  • Latifa Boutat-Baddas
  • Harouna Souley Ali
Regular Papers Control Theory


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.


Bilinear systems filter design H LMI uncertainties 


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Copyright information

© Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers and Springer-Verlag Berlin Heidelberg 2014

Authors and Affiliations

  • Mohamed Zerrougui
    • 1
  • Mohamed Darouach
    • 2
  • Latifa Boutat-Baddas
    • 2
  • Harouna Souley Ali
    • 2
  1. 1.LSIS CNRS UMR 7296Aix-Marseille University Av. Escadrille NormandieMarseille Cedex 20France
  2. 2.CRAN-CNRS UMR 7039Nancy University IUT de LongwyCosnes et RomainFrance

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