On emulation-based observer design for networked control systems

We extend our recent framework developed in [7] for the emulation-based observer design for networked control systems (NCS) to larger classes of systems and scheduling protocols. Consider a continuous-time observer that satisfies some input-to-state / input-to-output stability properties with respect to measurement errors, we prove that the observation error converges semiglobally and practically with the maximum allowable transmission interval (MATI) as parameter, when it is implemented via a network governed by a Lyapunov uniformly globally asymptotically stable (UGAS) protocol. We show that our results can be used to build various observers for NCS such as circle criterion observers. The stability analyses rely on trajectory based small gain theorems for parametrized systems.