Computational observer design techniques for linear systems with unknown inputs using the concept of transmission zeros

Computational observer design techniques for linear systems subject to unknown inputs are presented. Complete and intuitive geometric conditions for the solution of the problem which result in design matrix equations are provided. These design equations are solved in a computationally efficient way. The synthesis of the reduced-order observer takes full advantage of the concept of transmission zeros. In particular, the necessary and sufficient conditions obtained are given in terms of the transmission zeros of the triple (A,D, C)