Abstract
This paper deals with guaranteed state estimation for nonlinear continuous-time systems. Interval observers are a powerful tool to compute the bounds of the state vector by propagating the uncertainties on the initial state and the parameter vectors and the errors on the measurements. Nevertheless, a widely recognized drawback of interval analyis-based observers is the overestimation due to dependence and wrapping effects. In this paper, contraction theory is used as an alternative in order to reduce the pessimism induced by interval analysis. The proposed interval observer is based on the Luenberger approach where the observation gain is chosen in order to guarantee stability and contraction properties. The methodology is illustrated with simulations on a numerical example.
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