The main contribution of this paper is an H ∞ observer design for a class of singular Nonlinear Parametervarying system in the presence of disturbances and Lipschitz nonlinearity. In specific, this observer tackles the impact of disturbance on estimation error thanks to the H ∞ norm, while the parameter-dependent stability of estimation dynamics helps to widen the feasible region of LMI solution under the Lipschitz constraint. Finally, a numerical example with the gridding solution is illustrated to highlight the proposed design.
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