Joint state-mode observer design for switched linear systems

This work, presents the design of a Joint State-Mode observer for SLS, where the state of both parts, continuous and discrete, are observed The continuous part is represented by a family of linear systems (LS) and the discrete part is represented by an interpreted Petri net (IPN), enlarging the class of systems that can be represented and adding structural information to the system. The design of an asymptotic hybrid observer is presented, in this observer the information of both continuous and discrete parts are used to estimate the SLS state. This hybrid observer is an observer composed by an IPN observer and a sliding modes observer for the continuous part. It is known that in each linear system the convergence time is finite and the observer is robust to parametric variations.