L-Robust Interval Observer Design for Uncertain Nonlinear Dynamical Systems

Tarun Pati, Mohammad Khajenejad, Sai Praveen Daddala, Sze Zheng Yong

Research output: Contribution to journalArticlepeer-review

2 Scopus citations


This letter presents a novel interval observer design for uncertain locally Lipschitz continuous-time (CT) and discrete-time (DT) systems with noisy nonlinear observations that is input-to-state stable (ISS) and minimizes the L1-gain of the observer error system with respect to the uncertainties. Using mixed-monotone decompositions, the proposed observer is correct and positive by construction without the need for additional constraints/assumptions. This, in turn, allows us to directly leverage techniques for positive systems to design an ISS and L1-robust interval observer via mixed-integer (linear) programs instead of semi-definite programs with linear matrix inequalities. Further, our observer design offers additional degrees of freedom that may serve as a surrogate for coordinate transformations. Finally, we demonstrate the effectiveness of our proposed observer on some CT and DT systems.

Original languageEnglish (US)
Pages (from-to)3475-3480
Number of pages6
JournalIEEE Control Systems Letters
StatePublished - 2022


  • Observers for nonlinear systems
  • Uncertain systems

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Control and Optimization


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