Adaptive observer for Switching Linear Parameter-Varying (LPV) systems

Damiano Rotondo, Vasso Reppa, Vicenç Puig, Fatiha Nejjari

Research output: Chapter in Book/Conference proceedings/Edited volumeConference contributionScientificpeer-review

10 Citations (Scopus)


In this paper, the problem of joint state and parameter estimation in switching Linear Parameter-Varying (LPV) systems is considered. The proposed solution relies on an adaptive observer, which is designed finding a solution to a system of Trilinear Matrix Inequalities (TMIs). It is shown that, under certain assumptions, the TMIs can be reduced to Linear Matrix Inequalities (LMIs) that can be solved using available software. An example of a four wheeled omnidirectional mobile robot subject to unknown offsets in the motor voltages is used to illustrate the efficiency of the proposed approach.

Original languageEnglish
Title of host publication19th IFAC World Congress IFAC 2014, Proceedings
EditorsEdward Boje, Xiaohua Xia
PublisherIFAC Secretariat
ISBN (Electronic)9783902823625
Publication statusPublished - 2014
Externally publishedYes
Event19th IFAC World Congress on International Federation of Automatic Control, IFAC 2014 - Pretoria, Cape Town, South Africa
Duration: 24 Aug 201429 Aug 2014
Conference number: 19


Conference19th IFAC World Congress on International Federation of Automatic Control, IFAC 2014
Abbreviated titleIFAC 2014
Country/TerritorySouth Africa
CityCape Town


  • Adaptive observer
  • Continuous-time systems
  • State and parameter estimation
  • Switching Linear Parameter-Varying (LPV) systems


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