CONTINUOUS AND DISCRETE STATE ESTIMATION FOR A CLASS OF HYBRID NONLINEAR SYSTEMS

State estimation and fault diagnosis problems are discussed for a class of hybrid nonlinear systems modelled by hybrid automata, which have uncontrollable discrete mode transitions and parametric uncertainties. Two kinds of faults are considered: Continuous faults that affect each mode; Discrete faults that affect the mode transition. To estimate both the continuous and discrete states, a novel observer is designed for each mode whose estimation error is not affected by continuous faults and sensitive to discrete mode transitions. Sufficient conditions are given to achieve the state estimation goal for the overall hybrid system.