An LMI-Based Design Method for Modular Observers

A linear matrix inequality approach for designing a family of observers suitable for systems with variable communication topologies is presented. In particular, the observer is composed of blocks associated to the status of the communication links, providing increasing performance as more links are enabled. The error boundaries for topology switchings are analyzed both for the presented observer and for a specific Kalman filter for each topology. Finally, a simulation example is used to illustrate the feasibility of the proposed method.