A Practical Finite-Time Convergent Observer against Input Disturbance and Measurement Noise

Abstract

A simple robust finite-time convergent observer is presented in the presence of unknown input disturbance and measurement noise. In order to achieve the robust estimation and ensure the finite-time convergence, the proposed observer is constructed by using a multiple integral observer scheme in a hybrid system framework. Comparative computer simulations and laboratory experiments have been performed to test the effectiveness of the proposed observer.