Hybrid state estimation for a class of switched system using Petri nets

This paper addresses the problem of observer design for a class of switched system, where the discrete state evolution is led by a Petri net. This class may have modes in which the state is not fully observable. A new hybrid observer composed of a discrete and a switched continuous parts in interaction is proposed. The discrete part is based on Unknown Input observer to reconstruct the discrete state through the observation of measurable continuous outputs of the system. The switched continuous observer is based on higher order sliding mode techniques. It gathers partial information from individual modes to solve the continuous state estimation of the entire system. Simulation results show the effectiveness of the proposed approach.