Metzler Matrix Transform Determination using a Nonsmooth Optimization Technique with an Application to Interval Observers

The paper deals with the design of cooperative systems which formulates as computing a state coordinate transform such that the resulting dynamics are both stable and cooperative. The design of cooperative systems is a key problem to determine interval observers. Solutions are provided in the literature to transform any system into a cooperative system. A novel approach is proposed which reformulates into a stabilization problem. A solution is found using non-smooth optimization techniques.