Sliding Mode Observers for Set-valued Lur'e Systems with Uncertainties Beyond Observational Range

Abstract

In this paper, we introduce a new sliding mode observer for Lur'e set-valued dynamical systems, particularly addressing challenges posed by uncertainties not within the standard range of observation. Traditionally, most of Luenberger-like observers and sliding mode observer have been designed only for uncertainties in the range of observation. Central to our approach is the treatment of the uncertainty term which we decompose into two components: the first part in the observation subspace and the second part in its complemented subspace. We establish that when the second part converges to zero, an exact sliding mode observer for the system can be obtained. In scenarios where this convergence does not occur, our methodology allows for the estimation of errors between the actual state and the observer state. This leads to a practical interval estimation technique, valuable in situations where part of the uncertainty lies outside the observable range. Finally, we show that our observer is also a T- observer as well as a strong H-infinity observer.