Uncertainty observers for uncertain systems
不确定系统的不确定项观测器设计

The estimation for uncertainties in dynamic systems plays an important role in controller design, and the traditional bound estimation for uncertainties would induce more conservative controller or worse dynamic performances. Motivated by uncertainties estimation via state feedback, we proposed uncertainty observers design schemes for both continuous and discrete uncertain systems in this paper. By introducing the concept of distributed and discrete weighted averages, observation errors are analyzed and the observed values are mathematically proved to be unbiased in terms of the weighted average. Moreover, satisfactory accuracy of observation errors can be achieved via choosing appropriate observer gain matrix. The scheme is applied to a control system. Simulation results show that the proposed observers can efficiently estimate the uncertainties, and the improved closed-loop dynamic performances are achieved.