A parallel observer system for multirate state estimation

Presents the parallel observer system (POS), a multi-rate estimation technique for discrete time systems, to compensate for output measurements that are available only periodically and for systems with matched and unmatched uncertainties/disturbances. A stability proof and error bounds are provided, given maximum bounds of the uncertainties/disturbances. An example is used to compare the POS to two single rate Luenberger observers running at different rates and which have measurements every appropriate sample period.