Stubborn state observers for linear time-invariant systems

Abstract : 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.
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Submitted on : Tuesday, February 6, 2018 - 2:39:17 PM
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Angelo Alessandri, Luca Zaccarian. Stubborn state observers for linear time-invariant systems. Automatica, Elsevier, 2018, 88, pp.1 - 9. ⟨10.1016/j.automatica.2017.10.022⟩. ⟨hal-01700167⟩

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