Related papers: Interval Observers for Simultaneous State and Mode…
This paper introduces a new nonlinear observer for state estimation of linear time invariant systems. The proposed observer contains a (nonlinear) cubic term in its error dynamics. "For the final version of this article, please refer to the…
The paper deals with the observer design problem for a wide class of triangular time-varying nonlinear systems, with unobservable linearization. Sufficient conditions are derived for the existence of a Luenberger-type observer, when it is a…
The development of disturbance estimators using extended state observers (ESOs) typically assumes that the system is observable. This paper introduces an improved method for systems that are initially unobservable, leveraging Taylor…
We first develop systematic and comprehensive interval observer designs for linear time-invariant (LTI) systems, under standard assumptions of observability and interval bounds on the initial condition and uncertainties. Traditionally, such…
This brief memo reviews the theory of Unknown Input Observers (UIO) for state estimation in systems subject to disturbance inputs that are not known a priori. One main advantage of the UIO is that the observer structure naturally decouples…
This paper studies detectability for switched linear differential-algebraic equations (DAEs) and its application to the synthesis of observers, which generate asymptotically converging state estimates. Equating detectability to asymptotic…
This paper presents a data-driven approach for designing state observers for continuous-time nonlinear systems, where an extended dynamic mode decomposition (EDMD) procedure is used to identify an approximate linear lifted model. Since such…
In this paper it is showed that if a time-varying uncertain system is robustly completely detectable then there exists an estimator for this system, i.e. we can estimate asymptotically the state vector of the system. Moreover, if a…
Time-varying linear state-space models are powerful tools for obtaining mathematically interpretable representations of neural signals. For example, switching and decomposed models describe complex systems using latent variables that evolve…
This paper investigates the fundamental information-theoretic limits for the control and sensing of noiseless linear dynamical systems subject to a broad class of nonlinear observations. We analyze the interactions between the control and…
Complex dynamical systems rely on the correct deployment and operation of numerous components, with state-of-the-art methods relying on learning-enabled components in various stages of modeling, sensing, and control at both offline and…
The increasing availability of sensing techniques provides a great opportunity for engineers to design state estimation methods, which are optimal for the system under observation and the observed noise patterns. However, these patterns…
The problem of state estimation for a system of coupled hyperbolic PDEs and ODEs with Lipschitz nonlinearities with boundary measurements is considered. An infinite dimensional observer with a linear boundary injection term is used to solve…
This paper proposes a recursive interval-valued estimation framework for identifying the parameters of linearly parameterized systems which may be slowly time-varying. It is assumed that the model error (which may consist in measurement…
State and parameter estimation is essential for process monitoring and control. Observability plays an important role in both state and parameter estimation. In simultaneous state and parameter estimation, the parameters are often augmented…
Various methods are nowadays available to design observers for broad classes of systems. Nevertheless, the question of the tuning of the observer to achieve satisfactory estimation performance remains largely open. This paper presents a…
A high-gain extended observer is designed for a class of nonlinear uncertain systems. This observer has the ability of estimating system uncertainty, and it can be used to estimate the derivatives of signal up to order n. The controller…
This paper deals with the simultaneous estimation of the attitude, position and linear velocity for vision-aided inertial navigation systems. We propose a nonlinear observer on $SO(3)\times \mathbb{R}^{15}$ relying on body-frame…
We examine robust output feedback control of discrete-time nonlinear systems with bounded uncertainties affecting the dynamics and measurements. Specifically, we demonstrate how to construct semi-infinite programs that produce gains to…
In this paper we propose a new state observer design technique for nonlinear systems. It consists of an extension of the recently introduced parameter estimation-based observer, which is applicable for systems verifying a particular…