A hybrid fixed-time observer for state estimation of linear systems

Héctor Ríos, Andrew R. Teel

Research output: Contribution to journalArticlepeer-review

43 Scopus citations


This paper deals with the problem of state estimation for single-output linear systems. Under some structural properties of the system matrices it is possible to design a hybrid observer capable of estimating the state of the system exactly and in a finite time. Moreover, the proposed hybrid observer provides fixed-time convergence of the state estimation error, i.e. there exists a convergence time that is bounded and such a bound is independent of the initial estimation error. The robustness properties of the hybrid observer are analyzed for the linear system with unknown inputs, and the linear system with unknown inputs and parametric uncertainty. Some simulation results illustrate the effectiveness of the proposed hybrid observer.

Original languageEnglish
Pages (from-to)103-112
Number of pages10
StatePublished - Jan 2018

Bibliographical note

Publisher Copyright:
© 2017 Elsevier Ltd


  • Fixed-time convergence
  • Hybrid observers
  • Linear systems


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