Bridging Centralized and Distributed Frameworks in Unknown Input Observer Design

Abstract

State estimation for linear time-invariant systems with unknown inputs is a fundamental problem in various research domains. In this article, we establish conditions for the design of unknown input observers (UIOs) from a geometric approach perspective. Specifically, we derive a necessary and sufficient geometric condition for the existence of a centralized UIO. Compared to existing results, our condition offers a more general design framework, allowing designers the flexibility to estimate partial information of the system state. Furthermore, we extend the centralized UIO design to distributed settings. In contrast to existing distributed UIO approaches, which require each local node to satisfy the rank condition regarding the unknown input and output matrices, our method accommodates cases where a subset of nodes does not meet this requirement. This relaxation significantly broadens the range of practical applications. Simulation results are provided to demonstrate the effectiveness of the proposed design.