Bounded model switching in uncertain hybrid systems

The problem of establishing hard bounds on a state estimate of a nonlinear system is described. Within an operating range, the extended set-membership filter and a set of switched linear models are used in order to minimize the uncertainty on the state estimate. The bounding of the linearization error for use in set-membership with model switching is explained. Methods to select, place, and switch linear models to meet a desired uncertainty are discussed. The proposed methods are then applied to a model of the relative motion of two aircraft.