Design of Minimal-Order Observer for Singular Systems

This paper considers the design of observer for generalized state space systems. The design approach is based on the concepts of the Moore-Penrose matrix generalized inverse and the Drazin inverse. In contrast to the Luenberger observer theory, a new method is proposed which does not presuppose the observer structure. A further discussion on alternative design approaches is provided and it is shown that under certain conditions a direct method for the design of full and minimal-order observer is possible. Illustrative examples are included.