An Observer with Measurement-triggered Jumps for Linear Systems with Known Input

Abstract

This paper deals with the estimation of the state of linear time invariant systems for which measurements of the output are available sporadically. An observer with jumps triggered by the arrival of such measurements is proposed and studied in a hybrid systems framework. The resulting system is written in estimation error coordinates and augmented with a timer variable that triggers the event of new measurements arriving. The design of the observer is performed to achieve uniform global asymptotic stability (UGAS) of a closed set including the points for which the state of the plant and its estimate coincide. Furthermore, a computationally tractable design procedure for the proposed observer is presented and illustrated in an example.