## Abstract

This paper presents a method for guaranteed state estimation of discrete time piecewise affine systems with unknown but bounded noise and disturbance. Using zonotopic set representations, the proposed method computes the set of states that are consistent with the model, observation, and bounds on the noise and disturbance such that the real state of the system is guaranteed to lie in this set. Because in piecewise affine systems, the state space is partitioned into a number

of polyhedral sets, at each iteration the intersection of the zonotopes containing a set-valued estimation of the states with each of the polyhedral partitions must be computed. We use an analytic method to compute the intersection as a zonotope and minimize the size of the intersection. A numerical example is provided to illuminate the algorithm.

of polyhedral sets, at each iteration the intersection of the zonotopes containing a set-valued estimation of the states with each of the polyhedral partitions must be computed. We use an analytic method to compute the intersection as a zonotope and minimize the size of the intersection. A numerical example is provided to illuminate the algorithm.

Original language | English |
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Title of host publication | Proceedings of the 2013 European Control Conference |

Publisher | IEEE |

Publication date | 2013 |

Pages | 3143-3148 |

ISBN (Print) | 78-3-952-41734-8 |

Publication status | Published - 2013 |

Event | 12th European Control Conference (ECC 2013) - Zurich, Switzerland Duration: 17 Jul 2013 → 19 Jul 2013 http://www.ecc13.ch/ |

### Conference

Conference | 12th European Control Conference (ECC 2013) |
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Country | Switzerland |

City | Zurich |

Period | 17/07/2013 → 19/07/2013 |

Internet address |