Event triggered robust filter design for discrete-time systems

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This study introduces a general event triggered framework of state estimation for discrete-time systems with parameter uncertainties residing in a polytope. A robust filter is designed to ensure the ℓ2 stability from disturbance to the estimation error and to minimise the ℓ2 gain subject to both packet rate and size constraints. The number of data transmission and the data size are reduced by the utilisation of an event detector and a logarithmic quantiser, respectively. The event detector compares the current output measurement with the last transmitted measurement: if the difference is beyond a prescribed percentage of the current measurement, then the current measurement is transmitted to the quantiser. The quantiser encodes the measurement before sending to the filter via a digital communication channel. Conditions for filter design are found using polynomially parameter-dependent Lyapunov functions, which generalise the results using quadratic and linearly parameter-dependent Lyapunov functions. The usefulness of the techniques is demonstrated with an illustrative example. © The Institution of Engineering and Technology 2014.

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IET Control Theory and Applications

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