H ∞ and Sliding Mode Observers for Linear Time-Invariant Fractional-Order Dynamic Systems With Initial Memory Effect

Abstract

The H∞ and sliding mode observers are important in integer-order dynamic systems. However, these observers are not well explored in the field of fractional-order dynamic systems. In this paper, the H∞ filter and the fractional-order sliding mode unknown input observer are developed to estimate state of the linear time-invariant fractional-order dynamic systems with consideration of proper initial memory effect. As the first result, the fractional-order H∞ filter is introduced, and it is shown that the gain from the noise to the estimation error is bounded in the sense of the H∞ norm. Based on the extended bounded real lemma, the H∞ filter design is formulated in a linear matrix inequality form, and it will be seen that numerical methods to solve convex optimization problems are feasible in fractional-order systems (FOSs). As the second result of this paper, not only state but also unknown input disturbance are estimated by fractional-order sliding-mode unknown input observer, simultaneously. In this paper, it is shown that the design and stability analysis of the two estimation techniques are not related with the initial history. Through two numerical examples, the performance of the fractional-order H∞ filter and the fractional-order sliding-mode observer is illustrated with consideration of the initialization functions.