Sufficient conditions for viability under imperfect measurement (Q1321606)

Given the output feedback system with uncertain measurement: \[ \dot x\in f(x(t), V(y(t)), \quad x\in \mathbb{R}^ n, \qquad y\in g(x(t),K), \quad y\in \mathbb{R}^ m,\;k\subset \mathbb{R}^ m, \] one says that the mapping \(V(\cdot): \mathbb{R}^ m\to U\subset \mathbb{R}^ r\) is a viable regulation map with respect to the viability constraint \(x(t)\in X\subset \mathbb{R}^ n\), \(t\in [0,+\infty)\) if for every \(x(0)\in X\), \(x(t)\in X\), \(t\in [0, +\infty)\). One proves that if there is \(\varepsilon >0\) and a constant \(\rho\) such that for every \(y\in Y_ \varepsilon\) \[ \min_{u\in U} \max_{x\in E_ \varepsilon (y)} \min_{z\in {\mathcal P}_ X(x)} \langle f(x,u)- \rho(x-z), x-z\rangle \leq 0 \] the viable regulation map is given by: \[ V(y)= \begin{cases} \{u\in U;\;\max_{x\in E_ \varepsilon(y)} [\min_{z\in{\mathcal P}_ X(x)} \langle f(x,u), x-z\rangle- \rho \text{ dist}(x,X)^ 2] \leq 0\}, \;&y\in Y_ \varepsilon,\\ U, &y\not\in Y_ \varepsilon,\end{cases} \] where \(Y_ \varepsilon= g(X+ \varepsilon{\mathcal B}, K)\), \(E_ \varepsilon(y)= \{x\in X+ \varepsilon{\mathcal B}\); \(y\in g(x,K)\}\), with \(y\in Y_ \varepsilon\), and \({\mathcal P}_ X(x)= \{x'\in X\); \(| x-x'|= \text{dist}(x,X)\}\), with \(x\in X\), and \({\mathcal B}\) is the unit ball in \(\mathbb{R}^ n\). Two examples illustrate the obtained results.