State estimation for linear hybrid systems with periodic jumps and unknown inputs

Héctor Ríos, Jorge Dávila, Andrew R. Teel

Research output: Contribution to journalArticlepeer-review

17 Scopus citations


In order to solve the state estimation problem for linear hybrid systems with periodic jumps and unknown inputs, some hybrid observers are proposed. The proposed observers admit a Luenberger-like structure and the synthesis is given in terms of linear matrix inequalities (LMIs). Therefore, the proposed observer designs are completely constructive and provide some input-to-state stability properties with respect to unknown inputs. It is worth mentioning that the structure of the hybrid observers, as well as the structure of the LMIs, depends on some observability properties of the flow and jump dynamics, respectively. Then, in order to compensate the effect of the unknown inputs, a hybrid sliding-mode observer is added to the Luenberger-like observer structure, providing exponential convergence to zero of the state estimation error despite certain class of unknown inputs. The existence of the hybrid observers and the unknown input hybrid observer is guaranteed if and only if the hybrid system is observable and strongly observable, respectively. Some numerical examples illustrate the feasibility of the proposed estimation approach.

Original languageEnglish
Pages (from-to)5966-5988
Number of pages23
JournalInternational Journal of Robust and Nonlinear Control
Issue number15
StatePublished - 1 Oct 2020
Externally publishedYes

Bibliographical note

Publisher Copyright:
© 2020 John Wiley & Sons, Ltd.


  • hybrid systems
  • linear systems
  • observer design


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