Robustness of extended-Kalman-type observers
- 1 May 1987
- journal article
- research article
- Published by Taylor & Francis in International Journal of Control
- Vol. 45 (5) , 1857-1866
- https://doi.org/10.1080/00207178708933851
Abstract
Robustness properties of extended-Kalman-type observers are investigated for linear plants when actuators and sensors have non-linearities or linear dynamics. Sufficient conditions for the stability of the estimation error are obtained for time-varying extended Kalman filters (EKF) for time-varying plants, and for constant-gain, exponentially weighted EKF for time-invariant plants. When the non-linearities are known only within bands of uncertainty, it is proved that the observer is non-divergent.Keywords
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