α1

x́˙ 1 =x́2 + ( y−x́ 1 )

ε
α2
x́˙ 2=bu+ σ́ + 2 ( y−x́ 1 )
ε
α
σ́˙ = 3 ( y−x́ 1 )
3

The goals of the observer are that.

x́ 1 (t) → x 1 (t), x́ 2 (t )→ x2 (t ), x́ 3 (t) → f (θ , θ̇ , t ) as t → ∞ .

where x́ 1 , x́ 2 and σ́ are states of the observer, ε > 0 , α 1 , α 2 and α 3 are positive constants,
polynomial s3 +α 1 s2 + α 2 s+ α 3 is Hurwitz.
Refer to [4], we define observer error as
T
η=[ η1 η 2 η3 ]

where

x 1−x́ 1 x 2−x́ 2
η1 = 2
, η2 = , η3=f −σ́
ε ε

Since

ε η̇1 ¿
ε ( (
ẋ 1− x́˙ 1 1 α1
= x 2− x́2 + ( y−x́ 1 )
ε ε
ε
))
ẋ − x́˙ α
ε( ( )) (
α
=ε 2 2 = bu+f (⋅)− bu+ σ́ + 22 ( y −x́1 ) ¿= f (⋅)−σ́ − 22 ( y −x́ 1)
ε )
¿ ¿

ε η̇= Á η+ε B́ ḟ

where

[ ] []
−α 1 1 0 0
A= −α 2 0 1 , B= 0
−α 3 0 0 1

The characteristic equation of matrix Á is

| |
λ+ α 1 −1 0
¿ λI − A∨¿ α 2 λ −1 =0
α3 0 λ

then

( λ+ α 1 ) λ 2+ α 2 λ+ α 3=0
and

λ 3+ α 1 λ2 +α 2 λ +α 3=0

If α i (i=1,2,3) is properly chosen so that A is Hurwitz, then for any given symmetric
positive definite matrix Q , there exists a unique symmetric positive definite matrix P
satisfying the Lyapunov equation as follows:
T
Á P+ P Á+Q=0

We define the Lyapunov function as follows:

V o =ε ηT Pη

then
T T
V̇ o ¿ ε η̇ Pη+ε η P η̇
¿ ¿
2
V̇ o ⩽−λmin (Q)∥η ∥ +2 εL ∥ P B ∥ ∥ η ∥

where λ min (Q) is the minimum eigenvalue of Q .

From V̇ o ⩽ 0, we get observer error convergence conclusion as

2 εL ∥ P B∥
∥η ∥⩽
λmin (Q )

From Eq. (8.27), we can see the convergence of observer error η is related to ε . If ε is
designed as very positive small, ∥η ∥ is O(ε).
Remark:
(1) If the initial value of the extended observer and the initial value of the plant is
different, for very small ε , peaking phenomenon will appear, which can affect
convergence of the extended observer greatly. To alleviate peaking phenomenon, we
design ε as [5]

1
{
3
100 t , 0 ⩽ t ⩽ 1
=R=
ε 100 , t>1

or

{
1−e−λ t 1

1 μ , 0 ⩽ t ⩽ t max
=R= 1+e− λ t 2

ε
μ, t> t max

where μ , λ1 and λ 2 are positive value.

For example, choose λ 1=λ2=50 , μ=100, run simulink program chap8_3sim.mdl, the
change of R and ε are shown in Fig. 8.4.
(2) If the practical measurement signal is mixed with noise, for very small ε , big observer
error can be caused. To alleviate the effect of noisy signal, a switchedgain can be used in
the observer [6 ].
(3) Design of α i (i=1,2,3). For λ 3+ α 1 λ2 +α 2 λ +α 3=0, we choose (λ+ 1) ¿ 2) (λ+ 3)=0,
then λ 3+ 6 λ2 +11 λ+6=0, we can get α 1=6 , α 2=11 , α 3=6.