A Moving Horizon Estimator for processes with multi-rate measurements: A Nonlinear Programming sensitivity approach

@inproceedings{LpezNegrete2012AMH,
  title={A Moving Horizon Estimator for processes with multi-rate measurements: A Nonlinear Programming sensitivity approach},
  author={Rodrigo L{\'o}pez-Negrete and Lorenz T. Biegler},
  year={2012}
}
Abstract Moving Horizon Estimation (MHE) provides a framework that allows one to incorporate both frequent and infrequent observations easily because it uses a window of past measurements, where the slower ones can be introduced as they become available. Also, MHE allows for the use of constraints on the state estimates, which improves the performance of the estimator. Here we propose the use of a variable structure MHE that can handle multi-rate measurements. Furthermore, we propose a novel… CONTINUE READING

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