A Switching Observer for a Class of Nonuniformly Observable Systems via Singular Time-Rescaling

We present a switching observer for a class of nonuniformly observable systems that are affine in the unmeasured states and nonlinear in the measured output. Using a singular time-rescaling, the dynamics of the estimation error is transformed into that of a bimodal switched linear system. Sufficient conditions that guarantee the observer’s uniform asymptotic stability are provided; these are state...