Continuous-Discrete Observer for State Affine Systems With Sampled and Delayed Measurements

The observation of a class of multi-input multi-output (MIMO) state affine systems with both sampled and delayed output measurements is addressed. These two constraints disturb simultaneously the convergence of the observer. Assuming some persistent excitation conditions to hold, and by using Lyapunov tools adapted to impulsive systems, two classes of global exponential observers are proposed. Some explicit relations between maximum allowable delay and maximum allowable sampling period are given. An extension to some classes of nonlinear systems is also given.