Multi-rate Sampled-data Observer Design for Nonlinear Systems with Asynchronous and Delayed Measurements
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© 2019 American Automatic Control Council. In our previous work, we developed a multi-rate sampled-data observer design method in nonlinear systems with asynchronous sampling. In this article, possible measurement delays are accounted for in the multi-rate observer design. The proposed observer adopts an available multi-rate design in the time interval between two consecutive delayed measurements. A dead time compensation approach is developed to compensate for the effect of delay and update past estimates when a delayed measurement arrives. It is shown that stability of the multi-rate observer is preserved under nonconstant, arbitrarily large delays, in the absence of measurement errors. The proposed multirate multi-delay observer is applied to a gas-phase polyethylene reactor example and provides reliable estimates in the presence of nonuniform sampling and nonconstant delays.
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