Modulating Integral Observer for Conformable Fractional Order System

This paper aims to design a nonasymptotic and robust modulating integral observer for a class of conformable fractional order linear systems with unknown initial conditions and being in noisy environment. First, the given conformable fractional order observable system is transformed into the corresponding Brunovskys observable canonical form. Secondly, the pseudo-state is exactly expressed by integral formulas. Then, eligible modulating functions by algebraic integral formulas is designed to complete estimation. Moreover, we analyze the noise error contribution. Finally, it is verified by numerical simulation that the proposed method can perform well in noisy environment.