A preliminary step towards the Switched Linear Internal Model control: the Asymptotic Observer problem

In recent papers, the authors proposed a novel control approach based on the use of a Switching Linear Internal Model (SLIM) to cope with asymptotic tracking of a significant class of periodic references for “real world” applications, while guaranteeing good robustness properties with respect to disturbances. In the path toward a final assessment of this methodology, the problem of observing the state of the particular class of exosystems considered appears to be crucial. In this paper previous results on this topic are revised and widely extended to establish a rigorous and effective design procedure.