ABSTRACT
We are considering the problem of observer design for a general class of state-affine systems in presence of output delay and sampling. Two novelties characterize the considered class of systems: (i) the state equation is subject to output injection involving future output values (not accessible to measurement); (ii) the injected output values come in the state equation not only through a driving term but also through the state matrix. These novel characteristics entail the loss of the system state-affine nature and lead to a new observer design problem never investigated so far. The solution we develop in this paper is a sampled-data based observer of Kalman-like type, augmented with inter-sample predictors and signal saturations. Using both Lyapunov and small-gain arguments, we show that the observer is exponentially convergent for sufficiently small sampling interval and delay, provided an observability condition is satisfied.
Disclosure statement
No potential conflict of interest was reported by the authors.