Verified Online State and Parameter Estimation for a Nonlinear Tank System

In this paper online verified state and parameter estimation for a tank system on real time hardware is presented. The Taylor Model based estimator determines guaranteed enclosures of the state and parameters in the presence of uncertainty in the intial state, the sensor and in the system parameters. The structure of the implementation on the real time hardware is shown. The properties of the estimator and its optimization for the real time application are discussed. Experimental results are presented. This is a break through for verified state and parameter estimation for continuous time systems.