Continuous-Discrete Time Observer Design for Multi-Output Linear Continuous Systems With Aperiodic Asynchronous Measurements

In this letter, a new observer is proposed for the state estimation of time-invariant systems with multiple outputs providing non periodic and asynchronous measurements. The state of the proposed hybrid observer is made up of two parts, the first one corresponding to the estimate which is continuous and the second one corresponding to a kind of output error predictor which is updated when new measurements are received. The convergence of the observer is analyzed and ensured with a condition on the maximum value of the outputs sample rates, with the help of a Lyapunov approach and is further recast using a Sum of Squares decomposition approach. Results of various simulations illustrate the efficiency of the observer.