Stubborn state observers for linear time-invariant systems

• Autores: Angelo Alessandri, Luca Zaccarian
• Localización: Automatica: A journal of IFAC the International Federation of Automatic Control, ISSN 0005-1098, Vol. 88, 2018, págs. 1-9
• Idioma: inglés
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• Resumen

  • For the purpose of estimating the state of a linear time-invariant system with measurements subject to outliers, we propose an observer with a saturated output injection in such a way to mitigate the effect of abnormal and isolated measurement noise on the error dynamics. Stability conditions in both the continuous-time and the discrete-time cases are derived, which ensure global exponential stability to the origin for the error dynamics. Such conditions can be expressed in terms of linear matrix inequalities, allowing for a viable design by using convex optimization. The effectiveness of the approach is illustrated by means of simulations in comparison with the Luenberger observer.