Decentralized state estimation in connected systems*

This paper considers the problem of state estimation and unknown input reconstruction of a class of connected heterogeneous LTI MIMO systems. Local high order sliding mode observers at each node of the network are designed for this purpose. The proposed method, under some network structural conditions, is inherently robust, nonlinear and totally independent of the time-varying network topology. Knowledge of the number of nodes that belong to the network is not required. At the supervisory level, decentralized control signals are computed based on the state estimates in order to operate the networking synchronization. By mean of simulation, the effectiveness of the proposal procedure is shown.