Stubborn state observers for linear time-invariant systems

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 bot...

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Bibliographic Details
Published inAutomatica (Oxford) Vol. 88; pp. 1 - 9
Main Authors Alessandri, Angelo, Zaccarian, Luca
Format Journal Article
LanguageEnglish
Published Elsevier Ltd 01.02.2018
Elsevier
Subjects
Automatic
Engineering Sciences
Outlier
Saturation
State observer
Outlier
Saturation
State observer
saturation
Online AccessGet full text
ISSN0005-1098
1873-2836
1873-2836
DOI10.1016/j.automatica.2017.10.022

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Summary: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.
ISSN:0005-1098
1873-2836
1873-2836
DOI:10.1016/j.automatica.2017.10.022