State estimation for linear switched systems with unstable invariant zeros and unknown inputs

Hector Rios, Jorge Davila, Leonid Fridman, Denis Efimov

Research output: Contribution to journalConference articlepeer-review

3 Scopus citations


In this paper the problem of continuous and discrete state estimation for a class of linear switched systems is studied. The class of systems under study can contain nonminimum phase zeros in some of their 'operating modes'. The conditions for exact reconstruction of the discrete state are given using structural properties of the switched system. The state-space is decomposed into the strongly observable part, the nonstrongly observable part and the unobservable part, to analyze the effect of the unknown inputs. A state observer based on high-order sliding-mode and Luenberger-like observers is proposed. For the case when the exact reconstruction of the state cannot be achieved, the ultimate bounds on the estimation errors are provided. The workability of the proposed method is illustrated by simulations.

Original languageEnglish
Article number6426455
Pages (from-to)5499-5504
Number of pages6
JournalProceedings of the IEEE Conference on Decision and Control
StatePublished - 2012
Event51st IEEE Conference on Decision and Control, CDC 2012 - Maui, HI, United States
Duration: 10 Dec 201213 Dec 2012

Bibliographical note

Copyright 2013 Elsevier B.V., All rights reserved.


  • High-order Sliding Modes
  • Linear Switched Systems
  • Non-minimum Phase
  • State Observers

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