Self-Triggered Interval Observers for Lipschitz Nonlinear Systems

Abstract

This paper constructs observers for linear and Lipschitz nonlinear systems with self-triggered measurements by utilizing the interval observer framework, which guarantees that an upper bound on the error between the estimated state and the actual state are known. The self-triggered observers are designed based on periodically sampled interval observers which guarantees a positive uniform minimum inter-sampling time. Convex programs for constructing the observer gains and the triggering functions are proposed. Simulation results are given to show the effectiveness of the proposed algorithms.