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Abstract
The concept of (C,A)-invariant sets is analyzed, together with its application to the design of full-order state observers with limitation of the estimation error, for discrete-time linear systems. If the initial error belongs to a (C,A)-invariant set, then it can be kept in this set by means of a suitable observation law. Polyhedral (C,A)-invariant sets are explicitly characterized by necessary and sufficient conditions. Based on such conditions, an algorithm is proposed for the computation of a (C,A)-invariant polyhedron containing the one to which the initial error belongs. An observation law which guarantees the bounds on the error is also proposed. The results are illustrated by a numerical example.
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