Event-triggered observer design for linear systems

Elena Petri (1) , Romain Postoyan (1) , Daniele Astolfi (2) , Dragan Nesic (3) , Maurice P. M. H. Heemels (4)

1 CRAN - Centre de Recherche en Automatique de Nancy
2 LAGEPP - Laboratoire d'automatique, de génie des procédés et de génie pharmaceutique
3 University of Melbourne
4 TU/e - Eindhoven University of Technology [Eindhoven]

We present an event-triggered observer design for linear time-invariant systems, where the measured output is sent to the observer only when a triggering condition is satisfied. We proceed by emulation and we first construct a continuous-time Luenberger observer. We then propose a dynamic rule to trigger transmissions, which only depends on the plant output and an auxiliary scalar state variable. The overall system is modeled as a hybrid system, for which a jump corresponds to an output transmission. We show that the proposed event-triggered observer guarantees global practical asymptotic stability for the estimation error dynamics. Moreover, under mild boundedness conditions on the plant state and its input, we prove that there exists a uniform strictly positive minimum inter-event time between any two consecutive transmissions, guaranteeing that the system does not exhibit Zeno solutions. Finally, the proposed approach is applied to a numerical case study of a lithium-ion battery.

Domaines: Automatique / Robotique

Elena Petri, Romain Postoyan, Daniele Astolfi, Dragan Nesic, Maurice P. M. H. Heemels. Event-triggered observer design for linear systems. 60th IEEE Conference on Decision and Control, CDC 2021, Dec 2021, Austin, United States. ⟨hal-03436854⟩