Interval observer design for LPV systems with parametric uncertainty

Yan Wang, David M. Bevly, Rajesh Rajamani

Research output: Contribution to journalArticlepeer-review

98 Scopus citations


Observer design for dynamical systems with both known and unknown time-varying parameters is of significant interest in a number of real-world applications. This class of systems has been rarely addressed in the existing literature. This paper develops an interval observer design methodology for linear parameter varying (LPV) systems with parametric uncertainty. With information on upper and lower bounds of the uncertain parameters, an interval observer that produces an envelope covering all possible state trajectories is presented. The application of the proposed algorithm in an important vehicle state estimation problem which aims at minimizing the worst-case envelope of the side-slip-angle estimate in the presence of uncertain tire cornering stiffness parameters and varying vehicle speed is presented. The obtained observer is evaluated in simulation using CarSim, a commercial industry-standard vehicle simulation software. The results verify the value of the developed observer design method.

Original languageEnglish (US)
Article number6460
Pages (from-to)79-85
Number of pages7
StatePublished - Oct 1 2015

Bibliographical note

Funding Information:
Dr. Rajamani has co-authored over 100 journal papers and is a co-inventor on 9 patent applications. He is the author of the popular book “Vehicle Dynamics and Control” published by Springer Verlag. Dr. Rajamani has served as Chair of the IEEE Technical Committee on Automotive Control and on the editorial boards of the IEEE Transactions on Control Systems Technology and the IEEE/ASME Transactions on Mechatronics. Dr. Rajamani is a Fellow of ASME and has been a recipient of the CAREER award from the National Science Foundation, the 2001 Outstanding Paper award from the journal IEEE Transactions on Control Systems Technology, the Ralph Teetor Award from SAE, and the 2007 O. Hugo Schuck Award from the American Automatic Control Council.

Publisher Copyright:
© 2015 Elsevier Ltd.


  • Interval observer
  • Linear Matrix Inequalities (LMIs)
  • Linear-parameter-varying (LPV) systems
  • Vehicle state estimation


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