Kalman Filter for Discrete-Time Stochastic Linear Systems Subject to Intermittent Unknown Inputs

State estimation of stochastic discrete-time linear systems subject to persistent unknown inputs has been widely studied but only few works have been dedicated to the case where unknown inputs may be simultaneously or sequentially active or inactive. In this technical note, a Kalman filter approach is proposed for state estimation of systems with unknown intermittent inputs. The design is based on the minimisation of the trace of the state estimation error covariance matrix under the constraint that the state estimation error is decoupled from the unknown inputs corrupting the system at the current time. The necessary and sufficient stability conditions are established considering the upper bound of the prediction error covariance matrix.