Optimal observer design for disturbed state affine systems

This paper investigates the problem of designing a robust high-gain observer for a class of disturbed state affine systems. The considered non-autonomous system takes into account both dynamic and output disturbances. The strategy is to provide a bound for the estimation error, independently of the initial condition, and to develop an algorithm for its minimization. The two arguments of this minimization problem are the tuning parameter of the observer and the system input. This approach provides a new method to simultaneously design the input of the system and the tuning of the observer in order to minimize the effect of disturbances in state estimation.