COMPUTATIONAL ISSUES IN A NONLINEAR OBSERVER FOR SYSTEMS WITH QUANTIZED OUTPUTS

In this paper we develop an observer for nonlinear systems with quanti zed outputs. The observer is a recursive algorithm based on the inters ection of sets: each measurement defines a set in state space which, b y recursive inter-section, is used to refine knowledge of the state. W e develop the necessary data structures and procedures to implement th e algorithm numerically. Comparisons are drawn between the proposed ob server the Kalman filter, and the equations of nonlinear filtering. Es timates are given for the error due to the triangulation of the set of consistent states and the computational complexity of the numerical i mplementation of our observer. Finally, the algorithm is applied to tw o example systems.