State estimation and decoupling of unknown inputs in uncertain LPV systems using interval observers

This paper proposes a linear parameter varying (LPV) interval observer for state estimation and unknown inputs decoupling in uncertain continuous-time LPV systems. Two different problems are considered and solved: (1) the evaluation of the set of admissible values for the state at each instant of time; and (2) the unknown input observation, i.e. the design of the observer in such a way that some information about the nature of the unknown inputs affecting the system can be obtained. In both cases, analysis and design conditions, which rely on solving linear matrix inequalities (LMIs), are provided. The effectiveness and appeal of the proposed method is demonstrated using an illustrative application to a two-joint planar robotic manipulator.This work has been supported by a grant from Iceland, Liecht- enstein and Norway through the EEA Financial Mechanism. Operated by Universidad Complutense de Madrid (ref. 006- ABEL-IM-2014B). The authors also acknowledge the support by MINECO and FEDER through the project CICYT HAR- CRICS (ref. DPI2014-58104-R), by AGAUR through the con- tracts FI-DGR 2014 (ref. 2014FI_B1_00172) and FI-DGR 2015 (ref. 2015FI_B2_00171), by the DGR of the Generalitat de Catalunya (ref. 2014/SGR/374) and by the Research Council of Norway through the Centres of Excellence funding scheme (ref. 223254 - AMOS). D. Rotondo is also supported by the ERCIM Alain Bensoussan Fellowship programme.Peer reviewe