H ∞ filtering for singular bilinear systems with application to a single-link flexible-joint robot
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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.
KeywordsBilinear systems filter design H∞ LMI uncertainties
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