A New Augmented Observable Canonical Form and Its Applications

In this paper, a new augmented observable canonical form is presented and applied to observer design for both linear and nonlinear systems with uncertain measurement disturbance. In order to analyse the effect of the disturbance to the estimation errors, we propose a novel analytical method with some tunable parameters. For any kinds of measurement disturbance, by tuning these parameters, it is shown that some estimation errors can converge to an arbitrarily small neighborhood of the origin. It is also shown that the augmented high-gain observer has low sensitivity to measurement noise, especially for high dimension nonlinear systems. Finally, a numerical simulation is offered to confirm the validity of the proposed methods.