Robust H_∞ filtering for a class of discrete-time nonlinear systems

In this paper, a robust H_∞ filtering problem is considered for a class of discrete-time nonlinear systems. Based on the Lyapunov method, a design criterion of the robust H_∞ filter guarantee not only the stability but also the prespecified upper bound of H_∞ norm from the disturbance inputs to error state outputs. The design condition can be solved easily by efficient convex optimization algorithms. Numerical examples show the effectiveness of the proposed method.