Switching Observers for Linear Systems: Beyond Individual Observability

Masoud S. Sakha; Rushikesh Kamalapurkar

Switching Observers for Linear Systems: Beyond Individual Observability

Systems and Control 2026-08-10 v1

Authors: Masoud S. Sakha , Rushikesh Kamalapurkar

Abstract

This paper develops an LMI-based switching observer for linear time-invariant systems with two output channels, where only one output is available at any given time. We assume that the system is observable when both outputs are considered together, and that the time intervals between consecutive output switches are uniformly bounded. Under these assumptions, we design a set of channel-dependent Luenberger observer gains offline via linear matrix inequalities and show that the resulting switched observer drives the estimation error to zero. The main contribution is an offline gain design and convergence result for switched observers that does not require individual output channels to be detectable.

Keywords

switching observer linear time-invariant systems linear matrix inequalities observability Luenberger observer

Cite

@article{arxiv.2608.10298,
  title  = {Switching Observers for Linear Systems: Beyond Individual Observability},
  author = {Masoud S. Sakha and Rushikesh Kamalapurkar},
  journal= {arXiv preprint arXiv:2608.10298},
  year   = {2026}
}