Observer Design for Lur'e Systems With Multivalued Mappings: A Passivity Approach

This paper considers the design of state observers for Lur'e systems with multivalued mappings in the feedback path. In particular, we focus on maximal monotone mappings that that do not require any compactness and local boundedness properties and include various models for relays, friction characteristics and complementarity conditions. We propose two types of observers that are constructed by rendering a suitable operator passive in an appropriate sense. The well-posedness properties of the observer dynamics are carefully analyzed and the global asymptotic stability of the observation error is formally proven.