On Robust Disturbance Observer Design Using Semi-Definite Programming Available to Purchase

This paper is concerned with optimal synthesis of disturbance observers guaranteeing closed loop robust tracking and disturbance rejection performance. The approach presented makes use of internal model-based estimation of exogenous disturbances, where the internal model dynamics is chosen with at least one of its eigenvalues at the origin. The synthesis is then formulated as an H_∞ weighted-sensitivity optimization for static output feedback (SOF) gain of a Luenberger observer. A linearization method is then implemented to solve the bilinear-matrix-inequality (BMI) constrained semi-definite program (SDP) for a (sub)optimal static gain.