Hinfinity filtering for singular bilinear systems with application to a single-link flexible-joint robot

Abstract

International audienceIn this paper, we consider the Hinfinity filters design for singular bilinear systems. The approach is based on the parameterized solution of a set of constrained Sylvester equations. The exponential convergence and L2 gain attenuation problems are solved by using the bounded real lemma, which leads to linear matrix inequalities (LMI) formulation. Finally, a detailed design procedure is given for the estimation of the states of a flexible joint robot, which demonstrates the effectiveness of the proposed method