A DECOUPLED MULTIPLE MODEL APPROACH FOR STATE ESTIMATION OF NONLINEAR SYSTEMS SUBJECT TO DELAYED MEASUREMENTS

The state estimation of nonlinear systems with delayed measurements is investigated in this paper. The proposed approach is based on the representation of the nonlinear system by a decoupled multiple model that, to our knowledge, has not been investigated extensively. This multiple model approach offers an interesting alternative to the classically used multiple model known as Takagi-Sugeno multiple model. Indeed, in contrast to this last, the decoupled multiple model makes it possible to introduce a state vector with a different dimension for each submodel. Sufficient conditions for ensuring the exponential convergence of the estimation error are provided in terms of LMIs.