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Robust unknown Input observer design for uncertain and noisy OSL-QIB nonlinear systems Arango Restrepo, Juan Pablo Etienne, Lucien Duviella, Eric Langueh, Kokou Segovia Castillo, Pablo Puig Cayuela, Vicenç Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial Universitat Politècnica de Catalunya. SAC - Sistemes Avançats de Control Àrees temàtiques de la UPC::Informàtica::Automàtica i control Uncertain systems Sufficient conditions Noise Measurement uncertainty Production Observers Linear matrix inequalities Noise measurement Nonlinear systems Substrates Unknown input observer One sided Lipschitz Quadratically inner bounded Robust observer design Linear matrix inequality © 2025 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. In this paper, the problem of designing a robust unknown input observer (RUIO) for quadratically inner bounded (QIB), one-sided Lipschitz (OSL) nonlinear systems in the presence of noise and unknown inputs is addressed. This RUIO is formulated as a convex optimization problem where parameter uncertainty and noise are considered. Sufficient conditions for observer gain synthesis are shown to be equivalent to solving a finite set of Linear Matrix Inequalities (LMIs) and a Linear Matrix Equality (LME). Two illustrative examples, a bioreactor for biomass production from substrate consumption and a robot manipulator, are used to test the effectiveness of the approach in the presence of unknown inputs, parameter uncertainty, and measurement noise. This work has been co-financed by the Spanish State Research Agency (AEI) and the European Regional Development Fund (ERFD) through the projects SaCoAV (ref. PID2020-114244RB-I00) and L-BEST (PID2020- 115905RB-C21). Peer Reviewed Postprint (author's final draft) 2025 Conference lecture Arango, J. [et al.]. Robust unknown Input observer design for uncertain and noisy OSL-QIB nonlinear systems. A: European Control Conference. «2025 European Control Conference». Institute of Electrical and Electronics Engineers (IEEE), 2025, p. 2390-2395. ISBN 65951-ECC. DOI 10.23919/ECC65951.2025.11187166 . 65951-ECC https://hdl.handle.net/2117/460083 10.23919/ECC65951.2025.11187166 https://hdl.handle.net/2117/460083 eng https://ieeexplore.ieee.org/abstract/document/11187166 info:eu-repo/grantAgreement/AEI/Plan Estatal de Investigación Científica y Técnica y de Innovación 2017-2020/PID2020-114244RB-I00/ES/COORDINACION SEGURA DE VEHICULOS AUTONOMOS/ info:eu-repo/grantAgreement/AEI/Plan Estatal de Investigación Científica y Técnica y de Innovación 2017-2020/PID2020-115905RB-C21/ES/SUPERVISION Y CONTROL TOLERANTE A FALLOS DE INFRAESTRUCTURAS INTELIGENTES BASADO EN APRENDIZAJE AVANZADO Y OPTIMIZACION/ Open Access 6 p. application/pdf Institute of Electrical and Electronics Engineers (IEEE)