Variable Structure Robust Observers for a Class of Nonlinear Systems
一类非线性系统的变结构鲁棒观测器

The design problem of variable structure robust observers for uncertain systems is explored, the uncertainties and extemal disturbances are all mismatched. The observers obtained in this paper are adapted to systems which posses linear or exactly linearizable nominal systems. Lyapunov function is chosen in order to verify the stability of observer,and it is proved that the observer error states are uniformly ultimately bounded. Observers obtained in this paper are constructed by using the bounds of uncertainties. In comparison with previous corresponding results, the observers are easy for practice.