Finite horizon constrained control and bounded-error estimation in the presence of missing data

Kwesi Rutledge, Sze Zheng Yong, Necmiye Ozay

Research output: Contribution to journalArticlepeer-review

10 Scopus citations


In this paper, we propose an optimization-based design technique for constrained control and bounded-error state estimation for affine systems in the presence of intermittent measurements. We treat the affine system as a switched system where the measurement equation switches between two modes based on whether a measurement exists or is missing, and model potential missing data patterns with a finite-length language that constrains the feasible mode sequences. Then, we introduce a novel property, equalized recovery, that generalizes the equalized performance property and that allows us to tolerate missing observations. By utilizing Q-parametrization, we show that a finite horizon optimal estimator/controller can be constructed using time-based and prefix-based approaches, where the latter implicitly estimates the specific missing data pattern (i.e., mode sequence), within the given language, according to the prefix observed so far. We illustrate with numerical examples that the proposed approaches can provide desirable performance guarantees.

Original languageEnglish (US)
Article number100854
JournalNonlinear Analysis: Hybrid Systems
StatePublished - May 2020


  • Bounded-error estimation
  • Invariance control
  • Missing data
  • Robust estimators

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Analysis
  • Computer Science Applications


Dive into the research topics of 'Finite horizon constrained control and bounded-error estimation in the presence of missing data'. Together they form a unique fingerprint.

Cite this