Advanced gain scheduling techniques for the design of parameter-dependent observers

We present a systematic framework for the design of affine gain scheduled observers for affine LPV systems. The stability of the estimation error is based on the existence of an affine parameter-dependent Lyapunov function. The main contribution of the paper is the fact that the observer synthesis is formulated as a more easily tractable condition. This is achieved by the application of the multiconvexity concept and the introduction of a slack variable which eliminates the coupling between the observer matrices and the parameter-dependent Lyapunov function