Interval observers are constructed for discrete-time systems. First, time-invariant interval observers are proposed for a family of nonlinear systems. Second, it is shown that, for any time-invariant exponentially stable discrete-time linear system with additive disturbances, time-varying exponentially stable discrete-time interval observers can be constructed. The latter result relies on the design of time-varying changes of coordinates, which transform a linear system into a nonnegative one.
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Mazenc et al. (2013) studied this question.
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