Algebraic Estimation of Mismatched Disturbance and State for a Class of MIMO Systems With Non‐Zero‐Mean Measurement Noise

ABSTRACT This paper develops an algebraic disturbance and state estimation method for a class of multi‐input multi‐output (MIMO) systems with non‐zero‐mean output measurement noise. The motivation is to design a novel output‐based estimation method for state‐feedback anti‐disturbance control systems. By using the constructed modulating functions, both the disturbance and system state are explicitly expressed through output‐based algebraic integral formulas. To enhance the efficiency of online estimation, a sliding integration window is applied to the proposed algebraic integral formulas. For discrete‐time applications, the proposed formulas are easy to implement numerically, and the effects of the corrupting output measurement noise are analyzed. Finally, simulation examples on anti‐disturbance control systems illustrate the efficiency and the robustness of the proposed estimation method against non‐zero‐mean output measurement noise.