Continuous-Discrete Time Observers for a Class of MIMO Nonlinear Systems

Mondher Farza, Mohammed M'Saad, Mamadou Lamine Fall, Eric Pigeon, Olivier Gehan, Krishna Busawon

Research output: Contribution to journalArticlepeer-review

91 Citations (Scopus)


This technical note addresses the observer design problem for a class of continuous-time dynamical systems with non-uniformly sampled measurements. More specifically, we propose an observer that runs in continuous-time with an output error correction term that is updated in a mixed continuous-discrete fashion. The proposed observer is actually an impulsive system since it is described by a set of differential equations with instantaneous state impulses corresponding to the measured samples and their estimates. Nevertheless, we shall show that such an impulsive system can be put under the form of a hybrid system composed of a continuous-time high gain observer coupled with an inter-sample output predictor. Two design features of the proposed observer are worth emphasizing. Firstly, the observer calibration is achieved through the tuning of a scalar design parameter. Secondly, the exponential convergence to zero of the observation error is established under a well-defined condition on the maximum value of the sampling partition diameter. Simulations results involving a flexible joint robot arm are given in order to highlight the performance of the proposed observer.
Original languageEnglish
Pages (from-to)1060-1065
JournalIEEE Transactions on Automatic Control
Issue number4
Early online date27 Sept 2013
Publication statusPublished - Apr 2014


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