Time-delayed state and unknown input observation
A modified sufficient condition for the existence of a stable unknown input observer (UIO) is presented. An observable discrete-time linear system with unknown input is considered, having the state space representation \[ x(t+1) =Ax(t)+ Mf(t), \quad y(t)= Cx(t). \] If the matrix \(CM\) has not full column rank, i.e. the first usual condition for the existence of a stable UIO fails, a new rank condition is examined in detail and a stable UIO can be designed by using the output and its anticipation signals, that is a new extended output \(\overline y(t)= [y(t)^Ty(t+1)^T \dots y(t+d)^T]^T\). It is shown that the introduction of the anticipation signals does not bring additional invariant zeros. It is proved that the modified rank condition is equivalent to the condition of system inversion and it is used to check the possibility of delayed observation.
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