Sample-based detectability and moving horizon state estimation of continuous-time systems
Abstract
In this paper we propose a detectability condition for nonlinear continuous-time systems with irregular/infrequent output measurements, namely a sample-based version of incremental integral input/output-to-state stability (i-iIOSS). We provide a sufficient condition for an i-iIOSS system to be sample-based i-iIOSS. This condition is also exploited to analyze the relationship between sample-based i-iIOSS and sample-based observability for linear systems, such that previously established sampling strategies for linear systems can be used to guarantee sample-based i-iIOSS. Furthermore, we present a sample-based moving horizon estimation scheme, for which robust stability can be shown. Finally, we illustrate the applicability of the proposed estimation scheme through a biomedical simulation example.
Cite
@article{arxiv.2603.22107,
title = {Sample-based detectability and moving horizon state estimation of continuous-time systems},
author = {Isabelle Krauss and Victor G. Lopez and Matthias A. Müller},
journal= {arXiv preprint arXiv:2603.22107},
year = {2026}
}