Filter Hibrida H_∞-Kalman Berbasis Riccati Terpadu untuk Sistem Waktu Kontinu dengan Jaminan Horizon Semi-Takhingga

Budi Rudianto, Nada Fauziah

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Penelitian ini mengusulkan filter hibrida -Kalman berbasis Riccati terpadu untuk estimasi state yang robust pada sistem waktu kontinu dengan ketidakpastian parametrik dan gangguan campuran dalam horizon semi-takhingga. Metode ini mengintegrasikan optimalitas stokastik dari filter Kalman dengan jaminan kinerja terburuk dari pendekatan  melalui sebuah persamaan Riccati tunggal. Analisis stabilitas menggunakan fungsi Lyapunov dan ketaksamaan matriks linear menjamin konvergensi asimtotik error estimasi dan stabilitas input-to-state. Simulasi numerik pada sistem orde dua menunjukkan bahwa filter hibrida mengurangi RMSE sebesar 18% dibandingkan filter  murni dan meningkatkan margin norm  sebesar 25% dibandingkan filter Kalman standar, dengan waktu konvergensi yang lebih cepat. Hasil ini memvalidasi efektivitas filter yang diusulkan dalam mencapai akurasi estimasi dan ketangguhan secara bersamaan.


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