High-Gain Nonlinear Observer With Lower Tuning Parameter

Ali Zemouche, Fan Zhang, Frédéric Mazenc, Rajesh Rajamani

Research output: Contribution to journalArticlepeer-review

49 Scopus citations


This paper develops a new high-gain observer design method for nonlinear systems that has a lower gain compared to the standard high-gain observer. This new observer, called HG/LMI observer, is obtained by combining the standard high-gain methodology with the LMI-based observer design technique. Through analytical developments, this paper shows how the new observer provides lower gains, shows how it applies to systems with multinonlinear functions, and analyzes performance in the presence of measurement noise and/or delayed output measurements. A numerical example is given to illustrate the increasing advantage of the new HG/LMI observer with increase in the observer's 'compromise index.' Finally, the applicability and performance of the observer is demonstrated for a real-world application consisting of a train's magnetic levitation system.

Original languageEnglish (US)
Article number8540946
Pages (from-to)3194-3209
Number of pages16
JournalIEEE Transactions on Automatic Control
Issue number8
StatePublished - Aug 2019

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© 2018 IEEE.


  • High-gain methodology
  • LMIs
  • Lipschitz systems
  • observer design


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