Design of a robust finite-time observer for a class of uncertain nonlinear systems.

This paper is concerned with the design of a robust finite-time observer for a class of uncertain nonlinear systems. The novelty of the proposed approach lies in estimating uncertainties accurately in a finite time as well as states at the same time, without any constraint on the structure of the matrices of the system. In the proposed method, in contrast to similar papers, considering the system in canonical form or triangular structure is not necessary. In this paper, sufficient conditions are given to guarantee the exact estimation of both state variables of the system and uncertainties in a finite time. Finally, the performance and robustness of the proposed observer are validated using a numerical simulation. [ABSTRACT FROM AUTHOR]