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Guaranteed state estimation by zonotopes

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3 Author(s)
Alamo, T. ; Departamento de Ingenieria de Sistemas y Autom., Univ. de Sevilla, Spain ; Bravo, J.M. ; Camacho, E.F.

This paper presents a new approach to guaranteed state estimation for nonlinear discrete-time systems with a bounded description of noise and parameters. The main result is an algorithm to compute a set that contains the states consistent with the measured output and the given noise and parameters. This set is represented by a zonotope. The volume of the zonotope is minimized each sample instant solving a convex optimization problem. Interval arithmetic is used to calculate a guaranteed trajectory of the state process. Two examples have been provided for clarifying the algorithm.

Published in:

Decision and Control, 2003. Proceedings. 42nd IEEE Conference on  (Volume:6 )

Date of Conference:

9-12 Dec. 2003