Sensor Placement and Observer Design for Free Choice Continuous Timed Petri Nets

A polynomial algorithm for the sensor placement for observability problem in Continuous timed Petri nets (ContPN) is presented. Afterwards, an observer design with a single observer structure is proposed to avoid the classical approach requiring one observer for each LS, which becomes prohibited in classes of ContPN. In addition, this observer has the feature that it presents global and finite time convergence to the marking of the ContPN. The effectiveness of our approach is shown through illustrative examples.