Output Noise Rejection based Filtered High-Gain Observer

Abstract

Standard high-gain observers (SHGO) suffer from the sensitivity to measurement noise. This paper treats this inconvenient by presenting a new filtered high-gain observer that is based on cascading three subsystems having the same order as the initial system. The first subsystem has a dynamic similar to that of a standard high-gain observer whose the corrective term is linked to the state of the second subsystem. The both other subsystems are none other than cascade filters of the output observation error. A single-link robot arm system is used to highlight the performances of the suggested observer which are compared to those arising from the SHGO and the basic filtered HGO proposed in [10].