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Algebraic observer design for switched linear systems applied to multicellular

converters for estimating capacitor voltages

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 Algebraic Observer Design for Switched Linear Systems
applied to Multicellular Converters for estimating Capacitor
Voltages
Kaouthar Haddadi1, Noureddine Gazzam1, Atallah Benalia1
1
LACoSERE laboratory, Electrical Engineering Department, Amar Telidji University, 03000 Laghouat, Algeria

Abstract
This paper addresses the algebraic observer design method for the estimation of the continuous state of switched
linear systems while the existence of unobservable modes. This strategy is based on the recent robust
differentiation technique. Taking into account the hybrid observability of the continuous state, the algebraic
observer can reconstruct the states using the output measurement and their robust derivatives estimation. The
proposed state observer provides better and fast estimation. To validate the design scheme, we apply the
theoretical to estimate the floating voltages capacitors of the multicellular converters using only the load current
measurement and the knowledge of the discrete sequence modes. Simulation results and comparisons with super
twisting observer demonstrate the robustness and the effectiveness of the suggested state observer with and
without converter’s parametric variations and output measurement noise.
Keywords: Switched linear systems, Observability analysis, Algebraic observer, Multicellular converter

Received: 30 November 2017

To cite this article:
Haddadi K., Gazzam N., Benalia A., “Algebraic observer design for switched linear systems applied to multicellular
converters for estimating capacitor voltages”, in Electrotehnica, Electronica, Automatica (EEA), 2017, vol. 67, no.
1, pp. 28-34, ISSN 1582-5175.

design for SLS is proposed in [8] to provide the discrete and

1. Introduction continuous states. In [9] a high-order sliding-mode observer
During last twenty years, switched linear systems have is developed for SLS assuming that the inputs are unknown
and for SLS with known switching signal. In [10], the authors
attracted a considerable attention of various communities
have suggested an algebraic observer to estimate the
of both science engineering and industrial process. This
switching time sequence and continuous states, and it is
concern are motivated by the fact that they are capable to
improved assuming the continuous states to be known in
model complex systems while capturing both the
[11]. In [12], the observation of the continuous states while
continuous and discrete dynamics found in various fields
the switching signal is unknown using the algebraic
like chemical process industries, biological networks and air
approaches is proposed. Nevertheless, most of these
traffic management systems [1]. Roughly, switched linear
techniques assume the observability of the continuous state
systems consist of a finite number of subsystems, called
in each mode of the sequence. However, although the
also modes, and a discrete rule modelled by switching
modes are not completely observable in classical sense, it
signal in which it dictates switching between them [2].
is still possible to reconstruct the continuous state using
Consequently, it is necessary to study their fundamental
structural properties such as stabilization, control design only the measurements. This latter is based on the hybrid
observability conception and precisely the geometric
and observation. In this paper, we are interested in
condition given in [13]. In previous works such as [14], [15],
designing a state observer for the continuous state of
a hybrid Luenberger observer is given for switched linear
switched linear systems, which allow the reconstructing of
systems with unobservable modes. The structure of this
the continuous state. This latter is useful in designing
latter is very complex and requires a huge computing time
feedback controllers [3] and fault diagnosis design [4].
when the number of modes is greater than two modes.
Observability analysis of switched linear systems has
Moreover, and at the best of our knowledge, the algebraic
been subject to extensive research in the last ten years.
observer for switched linear system where each subsystem
Many notions of observability were developed depending on
is unobservable in the classical sense does not investigate
the knowledge of the switching signal, with or without state
until now. Based on research provided in [16] and [17], this
jumps. For instance, in [5] the observability of the
paper develops a fast and robust algebraic observer for the
piecewise constant systems was considered which
simplified significantly the analysis. The Z (TN) switched linear systems that have unobservable modes
based on the output measurement and their robust
observability concept was introduced and investigated in
derivatives estimation using the recent geometric
[6]. Several state observers have been proposed for the
observability conditions given in [13].
estimation of the continuous states. In [7], a Luenberger
In order to validate the algebraic observer, we will
observer is designed based on the multiple Lyapunov
apply it to the DC/DC multicellular converter for estimating
function for the dynamics of the error system taking into
the capacitor voltages. This converter, called also flying
account the switching effect. A super twisting observer
 ELECTROTEHNICĂ, ELECTRONICĂ, AUTOMATICĂ (EEA), 67 (2019), nr. 1 29
capacitor converter, leads to a safe series association of A2. The dimension of the continuous state is invariant
cells that work in a switching mode [18]. Anyway, the when the transition is enable.
knowledge of the capacitor voltages is always needed. For Note that A1 assumption excludes Zeno phenomena
instance, different state observer have been designing for [22].
this converter [19], [20], [21] in order to get the current We would like to characterize the observability of the
values of flying capacitor. continuous states from the output of the system and the
The remainder of this paper is organized as follows: knowledge of the switching signal  (t ) .
Section 2 presents the problem formulation for the
switched linear system. 3. Recall of the observability of switched linear
In section 3, we recall some results for the observability systems
analysis for SLS using geometrical tools.
Section 4 contains the proposed algebraic observer. While observability is well easy to check in classical
In section 5, we apply the obtained theoretical results linear systems, it becomes more challenging for the
to the multicellular converter. A comparison of the switched linear systems. In the following, we recall some
algebraic observer with the super-twisting observer is notions and results on the observability analysis of
given. continuous state i.e. the switching sequence is known. In
Finally, we draw specific conclusions derived from this this case, the observability of (1) on t0 , t f depends only  
work in the last section.
on the matrices (Aqi
k
, Cqi
k
) qi Q
.
2. Problem formulation k

Thus, we consider the following model,

Consider the following switched linear system SLS,
 x (t ) = A (t ) x(t )
 x (t ) = A ( t ) x(t ) + B ( t )u(t )  (3)
 y (t ) = C (t ) x(t )
 (1)
 y (t ) = C ( t ) x(t )

where x  R , u  R , y  R represents the state

n m p The state vector x(t )  
on t0 , t f of (3) is given by

vector, input vector and output vector respectively of the x(t ) =  (t , t 0 , x0 , (t )) =

continuous dynamics. The exogenous, yet observed,
switching signal  (t ) : R → Q is assumed to be piecewise
+ 
= (t , t 0 , ) x0 , t  tik −1 , tik k 1...,l 
constant right-continuous function where
Q = q1 ,, qM  is a finite discrete set. The constant where x0 is the initial state, 𝜎(𝜏)𝜏∈ [𝑡0 , 𝑡𝑓 ] is the switching

matrices Ak  R nn , Bk  R nm , Ck  R pn for signal that generates the switching sequence SS , and 
denotes the state-transition matrix defined as:
k Q are respectively the state, input and output
 
A ( ti j +1 −ti j )
 (t + )
A ( ti ) ( t −ti k )
matrices. Over a given time interval t 0 t f , the (t , t 0 , (t )) = e  k −1 ij
k
j =0 e
 (t ) : t0 , t f  → Q
switching signal is defined by,
 
t  t ik −1 , t ik k 1...,l
σ(t) = qik , tk −1  t  tk , qik  Q, k = 1, , l (2) The corresponding output trajectory is therefore given
by
Thus, the subsystem (also called mode)
(A qik , Bqi , Cqi
k k
) is active at the switching times For preciseness, the observability considered in this
paper has the following formal definitions.
tk k =0,,l −1 . Definition 1

 (t ) : t 0 , t f  → Q
The system (3) is said to be conditionally observable for
For brevity, the switching signal is
a given switching sequence SS over t 0 , t f , if and only if  
noted by  ( ) t  . Note that, the switching signals
0 ,t f
for any initial condition x0 , the following hold
 ( ) [t ,t
0 f ] is completely characterized by:
y(t , t 0 , x0 , (t ))  0 t  t 0 , t f  implies that
- The Sequence of switching time:
t0 , t1 , t 2 ,...., tl −1. x0 = 0 .
Using the geometrical idea developed in [14], the
- The Sequence of Switching Modes: qi qi  qi
1 2 l analysis of the observability of (3) for the switching
l is the length of the sequence. We can regroup these
two sequences as follows:
sequence SS over t 0 , t f   has the purpose of computing
- The Switching Sequence ( SS ): the unobservable subspace along the sequence SS.
SS = (t0 , qi )(t1, qi ) (tl −1, qi ) .
1 2 l
Definition 2
Through this paper, it is assumed that: A state x 0 is unobservable for a given sequence SS ,
 .
A1. System (1) satisfies the minimal dwell time
tk +1 − tk  T , where T  0 .  
over t 0 , t f , if y(t , t0 , x0 , (t ))  0 t  t0 , t f
30 ELECTROTEHNICĂ, ELECTRONICĂ, AUTOMATICĂ (EEA), 67 (2019), nr. 1

Denoting 1l the unobservable subspace for the

 
switching sequence SS , over t 0 , t f . Based on the last
definition, one can provide the following theorem.
Theorem 1
The system (3) is conditionally observable or simply
observable for the sequence SS , over t 0 , t f   , if and
only if  = 0
l
1  (6)
Theorem 1 has invented and proved in [14]. Its proof
based on the definitions 1 and 2. Putting it into a compact form, one obtains
Thus, the observability of a given switching sequence
suffices the computation of the unobservable subspace. Yqi (t ) = qi xqi (t ) + M qi U (t ) (7)
k k k k
by  for l  k
l
Towards this end, let us denote k the
where
unobservable subspace at switching time t k −1 for system
 y (t )   u(t ) 
(3) over the interval t k −1 , tl  . The subspace  l
1 along  y (t )   u (t ) 
SS can be recursively computed as follows:    
Y (t ) =  y(t ) ,U (t ) =  u(t ) 
 ll = ker( qil )    
  ( r −1)   ( r −2 ) 
 l − Aqi  qi
 y ik (t ) u ik (t )
k = ker( qil )  (e k k k +1 )
l
(4)

 k = l − 1, ,1.
 where  q  R rik n is the reduced observability
i k

with matrix of the mode qi . From (6), we can notice that ri

 
k k

( ri −1) T linear combinations of the state x is given by linear

qik = CqTik AqTik CqTik  ( AqTik ) k
CqTik (5) combination of the output and the input and their
derivatives up to order ri − 1 and ri − 2 respectively.
 qi
k k
where, is the observability matrix of the subsystem So under additional condition given by the proposition
k
below, the overall state x can be calculated at certain
qik , that satisfies rank ( qi ) = ri k , and switching time. Some sufficient conditions are provided by
k
the concept of the Z(TN) observability developed in [6] and
q = tq − tq .
adopted to our notations.
ik ik ik −1

It is obvious that in the interval t , t  much

Proposition 1
If the following conditions:
( )
0 f
information about the state is obtained after every 1. rank Tq ,, Tq = n ;
switching time. That is to say the unobservable subspace i1 il

kl gets smaller and smaller when the l − k gets larger. 2. Rank  T
qi qTi k = n, k 1,, l ; with  qik is
1

Theorem 2 the complement of  qi ;

ker( qi )  ker( Aqi ), qi k  Q
k
If then the
d qTi k
 
= 0 for t  I ik = tik −1 , tik k  1,, l .
k k

system (3) is observable (or conditionally) for the switching 3.

sequence SS if and only if, ker  q = 0 . ( )
ik
 dt
Then the system is conditionally observable for the
For the proof of this latter, the reader can see [5]. sequence SS . The algorithm of the proposed observer is
4. Hybrid algebraic observer design divided into three steps:
First step: compute robustly the needed derivatives of
The algebraic observer’s idea is based on the robust the output y and input u ;
differentiation of the output. This kind of observer provides
Second step: gathering the partial information from
a real estimation of the current continuous state. In order
individual modes over the hybrid trajectory.
to build the observer, we suppose that the system (1) is
Third Step: reconstructing the states using the
conditionally observable for the sequence SS . From (1), following expression
one provides successive differentiation of output for the
mode qi as follows:
k

xˆ (t ) =  −1 Yˆ (t ) − MUˆ (t )  (8)

where:
 ELECTROTEHNICĂ, ELECTRONICĂ, AUTOMATICĂ (EEA), 67 (2019), nr. 1 31
x
ˆq  Yˆq  Uˆ  N
y (i ) (0)
x
 i1
ˆ (t ) =  
 ˆ
 ; Y (t ) =
 i1
 
 ˆ
 ; U (t ) =
 qi 1
 

; y N ( s) = 
x
ˆ  Yˆ  Uˆ  i =0 s i +1
 qil   qi l   q il 
Multiply both sides of this expression s N +1 and the
M = M qi  1
 
 M qi ;  =  qi
l 1
  qi
l
 algebraic derivative
respectively, one obtains:
d k / ds k , k = 1,, N − 1

 
The following algorithm describes the proposed dk
algebraic state observer scheme:
k +1
s N +1 y N ( s) =,0  k  N − 1 (10)
ds
From the triangular system of equations (10), we can
d k y(0)
conclude that the derivatives , k = 1,, N − 1 are
ds k
~ ~
linearly identifiable. Multiplying (9) by s−N , N  N,
allows to get rid of time derivatives and to get a simple
system of linear equations for the computation the
derivatives of y (t ) . The following theorem gives a
complete characterization of this estimation.
Theorem 3
For all t  T , the j order time-derivative estimate
yˆ (t ) of the polynomial
( j)
y (t ) as defined in (6) satisfies
the convolution:
T
yˆ ( j ) (t ) =  H j (T , ) y (t −  )d , j = 0,..., N (11)
0
Figure 1. Algebraic observer algorithm
where
To execute the above scheme, we need an efficient and
fast method for getting the needed derivatives of the ( N + j + 1)!( N + 1)! N − j j
output and the input. H j (T , ) =
T N + j +1
  (k1 , k 2 , j )
k1 = 0 k 2 = 0
In what follows, we recall the algebraic method initially
developed in [23] that give a no-asymptotic and robust
estimation of the derivatives. 1 /( k1!k 2 !(k1 + k 2 )!)(T −  ) k1 + k2 (− ) N −k1 −k2
=
4.1. Recall on Numerical Differentiation ( N − j − k1 )!( j − k 2 )!( N − k1 − k 2 )!( N − k1 + 1)
In [24] and [25], Fliess and coworkers introduced a new
way to get the derivatives up to a desire order of a given Depends on the order j of derivative to be estimated,
signal y (t ) . This method is based on the algebraic and on an arbitrary constant time window length T 0.
The proof of the last theorem is given in [26].
combinations of time –integrations of y (t ) to compute its
derivatives. 5. Application to multicellular converter
Consider a real-valued function y (t ) that has the The multicellular converters, which are multilevel
following convergent Taylor series: converter, based on the serial association of elementary
cells. Figure 2 depicts the topology of the serial

y ( i ) (0) i multicellular converter with n independent cells, each
y (t ) =  t ,t  0 elementary cell composed by pairs of complementary
i =0 i!
switches. The dynamics of the converter, with a load
around t = 0 . The approximation of y (t ) around 0 by the consisting in an inductance L and a resistance R, is given
by:
truncated Taylor series of order N is given by
x (t ) = A(u (t )) x(t ) + B(u (t ))
(12)
y (i ) N (0) i
N
y N (t ) =  t (9) y (t ) = Cx(t )
i =0 i! where
The goal is to get the estimation of the derivatives of
y (t ) up to order N . The operational calculus yields for
the expression (9) is
32 ELECTROTEHNICĂ, ELECTRONICĂ, AUTOMATICĂ (EEA), 67 (2019), nr. 1


 0  0
u2 − u1  ( )
ker qi = 0, i = 1,, M .
c1   0 
    
      Proposition 2
A(u ) =  un − un −1 , B(u ) =  
  0 

0 0
cn −1  E  The observability matrix  qi is reduced as:
u − u u −u R   un 
L 
 1 2
 L
 n −1 n
L
−
L 


'qi = CqTi AqTi CqTi T
(16)
C = 0  0 1
Yields, the needed derivative also reduced:
The continuous state vector

x = vc1  vcn −1 iL  T
 R n correspond to n-1 Y (t ) = y y  (17)
floating capacitor voltages and the last component is the
load current, E is the voltage source and cj are the Proof
u  0,1 From the fact that rank ( q )  2 , which means that
n
capacitors. is the inputs. The switch
uk  0,1 determines the state of its cell
i
(kth). The value at most two states of the continuous vector state are
uk = 1 ( u k = 0 ) indicates the upper switch is closed instantaneously observable, the observability matrix  qi is
(open) while the lower switch is in opposite state i.e. open reduced as (16).
(closed). Moreover, using (16) and (17), the observability matrix
for the multicellular converter for the sequence SS over
 
t 0 , t can be simplified as,
T

 'SS =  'q1
T
 'q2
T
  'q3 
T T
(18)

5.1. Three-cells converter

The three-cells converter has eight different discrete
sub-systems  (t )  Q = q1 ,..., q8  , where the its
corresponding matrices Aq , Bq , C are defined by (12).
Figure 2. Topology of n-cells converter associated to a passive i i

R-L load
5.2 Simulation result
From (12), we observe that there are both continuous To demonstrate the improvement of the proposed
variables (load current and capacitors voltages) and algebraic estimation strategy, the simulation results are
discrete variables (Boolean input). Thus, the converter has compared with a super-twisting observer given in [28]. The
a natural behaviour and therefore we can derive a hybrid structure of the super-twisting algorithm is:
model for it. Thus, one can put (12) in the switched affine
model (13):  u 2 − u1
 xˆ1 = x3 −  (u 2 − u1 ) sgin( x3 − xˆ 3 )
c1
 x (t ) = A ( t ) x(t ) + B ( t ) 
 (13)  xˆ = u 3 − u 2 x −  (u − u ) sgin( x − xˆ ) (19)
 y (t ) = C ( t ) x(t ) 

2
c2
3 3 2 3 3

 u − u1 u − u2
( ) define
R
where M = 2 n and the matrices Aq , Bq , Cq  xˆ 3 = − 2 x1 − 3 x 2 − x3 +
i i i  L L L
subsystem and they are given in (12).   x − xˆ u − u sign( x − xˆ )
Despite the individual subsystems (A qi , Bqi , Cqi ) of 


3 3 3 2 3 3

the converters are unobservable in classical theory, the

where
observability in hybrid sense gains for specific switching
sequences. Form the model given by (12) and (13); we
1+ 2
would like to provide some simple conditions of the   0,  = ,0    1
observability of the floating capacitors voltages using only 1− L
the output and switching signal  (t ) . The converter’s parameters are:
Let SS = (t 0 , q1 )(t1 , q 2 )...(t l −1 , ql ) the sequence to E = 1500v, c1 = c2 = 720F , R =,20 .
be study the observability of the converter over it. L = 0.5mH The switches u k are determined by PWM
Corollary 1 control with frequency f = 10kHz .
The multicellular converter is observable for the
sequence SS on t 
t if and only if,
0 f 
 ELECTROTEHNICĂ, ELECTRONICĂ, AUTOMATICĂ (EEA), 67 (2019), nr. 1
(a)
(b)
Figure 3. Estimate of capacitor voltages and its errors for
algebraic observer (4(a), 4(c)
Figure 3 shows the estimates of the capacitor voltages
Vc1 V observer scheme based on some recent geometrical
and c2 and their errors when the system is not
affected by output noise and without parameters
variations.
V V
The estimates of the capacitor voltages c1 , c2
converge to the real states after a tiny time
t = 1.5 10 −4 s , t = 3.2 10 −4 s respectively in
Figure 4(a) and Figure 4(b). The estimation errors converge
in finite time to zero which can be clearly seen in Figure 3
(a) and Figure 3(b). These results are completely
satisfactory and demonstrate the effectiveness of the
provided observer compared to the observer of [28].
In order to test the robustness of our observer, some
changes are applied on the parameters of the converter as
well as on the output measurement.
These changes can be clearly seen in Figure 4(a) and
Figure 4(b) affecting the system output.
(a)
33
(b)
Figure 4. Estimate of capacitor voltages and its errors
algebraic hybrid observer (4(a), 4(c))
Figure 4 shows the converters trajectories under the
parametric variations for the two states. One can observe
that the algebraic state observer is capable to maintain the
estimation capacitor voltages with insensibility to these
variations. However, the super-twisting state observer
exhibits an acceptable performance (see the simulation
results in [28]), which means that this latter is sensitive to
this kind of variations.
6. Conclusion
Algebraic state observer of switched linear systems
including unobservable subsystems has proposed and
investigated in this paper. We developed a new state
observability conditions. This latter ensures a robust and
finite-time convergence to real states. A multicellular
converter is chosen as a physical example to demonstrate
the robustness and the effectiveness the theoretical result.
A comparison with the super-twisting observer is done with
and without output measurement noise.
7. References
[1] Lunze J., Lamnabhi F. L., Handbook of Hybrid Systems
Control Theory: Tools, Applications, Cambridge University
Press, New York (2009).
[2] Liberzon D., Switching in system and control, Birkhauser,
Boston, MA (2003).
[3] Li J., Xu Y., F. Zhang, Wang W., Observer-based output
feedback robust control of uncertain discrete-time
switched systems, Intelligent Control and Automation, 8th
World Congress on Intelligent Control and Automation ,
Jinan, China, pp :3414 – 3418(2010).
[4] Xu J. , Loh A. P. , Lum K. Y. ,Observer-based Fault Detection
for Piecewise Linear Systems Continuous-time Cases, 16th
IEEE International Conference on Control Applications,
Singapore, pp. 379–384 (2007).
[5] Goshen-meskin D., bar-itzhack I.Y., Observability analysis of
piece-wise constant systems with application to inertial
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Acknowledgment
This work was financially supported by the LACoSERE
Laboratery. University Amar Telidji of Laghouat, Algeria.
Biography
Kaouthar Haddadi was born on 14 Juin 1989 in
Laghouat/Algeria.
She earned his License degree in Electro-
technology (2009) and his Master degree in
Automatic (2011) from the Amar Telidji
university, Laghouat.
She is currently a PhD Student in the Electrical
Engineering Department.
Her general research interests are in the areas of Automatic
control, observability and observer design of switched linear
systems.
e-mail: kaoutharhadadi@gmail.com
Noureddine Gazzam was born on 09 April 1989
in Laghouat/Algeria.
He earned his License degree in Electro-
technology (2010) and his Master degree in
Automatic (2012) from the Amar Telidji
university, Laghouat.
He is currently a PhD Student in the Electrical Engineering
Department. His general research interests are in the areas of
Automatic control systems and his current research focuses on
the control and observation of hybrid dynamical systems.
e-mail: n.gazzam@lagh-univ.dz
Atallah Benalia was born on 1972 in Algiers/
Algeria. He received the diploma of state
engineer from Ecole Polytechnique of Algiers in
1996, and the DEA and PhD degrees in Automatic
control from the University of Paris-Sud (France),
in 1998 and 2004, respectively.
He joined the faculty of the Technology at the University of Amar
Telidji, Laghouat (Algeria), in 2008 where he is currently a
professor. His research interests deal mainly with analysis and
control of nonlinear systems.
e-mail: a.benalia@lagh-univ.dz