Near-optimal Kalman filters for multiparameter singularly perturbed linear systems

In this brief, we study the near-optimal Kalman filtering problem for multiparameter singularly perturbed system (MSPS). The attention is focused on the design of the near-optimal Kalman filters. It is shown that the resulting filters in fact remove ill-conditioning of the original full-order singularly perturbed Kalman filters. In addition the resulting filters can be used compared with the previously proposed result even if the fast state matrices are singular.