中文摘要：

针对一类具有干扰的非线性系统的鲁棒部分状态观测器，设计了新的能够重构有L2（即平方可积）干扰非线性系统部分状态的日。状态观测器．首先，给出了部分状态观测器设计矩阵应满足的约束条件和具体的表达形式．进而通过对观测误差动态的分析，研究了观测误差对L2干扰的衰减性问题，并基于LMI技术给出了日。部分状态观测器存在的充分条件．理论分析指出，当干扰为零时，所设计的观测器可渐近重构待估状态；当干扰不为零时，观测器误差具有对L2干扰的衰减性．最后，仿真算例验证了本文理论结果的正确性．

英文摘要：

Robust partial-state observer design was investigated for a class of nonlinear systems with disturbance. A novel H∞ state observer was designed through which the partial-state of nonlinear systems with L2 （ i. e. square integrable） disturbance can be reconstructed. First, the restricted conditions and the detailed expressions were given for the partial-state observer design matrices. Second, the L2 disturbance attenuation problem was investigated for observer error by analyzing observer error dynamics, and sufficient conditions were given for the existence of the H∞ partial-state observer based on the LMI method. Theoretical analysis shows that this designed observer can realize the asymptotic reconstruction for the states to be estimated when no disturbance, and the observer error is attenuation to the L2 disturbance when disturbance exists. Finally, a simulation example was given to illustrate the correctness of the theoretical results of this paper.