Below you find an interactive list of all my publications, which can be filtered by keywords, year, publication type and coauthors. There are also static lists of my books/book-chapters as well as journal and conference publications.

## 2019 |

Tanwani, Aneel; Trenn, Stephan Detectability and observer design for switched differential algebraic equations Journal Article Automatica, 99 , pp. 289-300, 2019. Abstract | Links | BibTeX | Tags: DAEs, observability, observer, piecewise-smooth-distributions, switched-DAEs, switched-systems @article{TanwTren19, title = {Detectability and observer design for switched differential algebraic equations}, author = {Aneel Tanwani and Stephan Trenn}, url = {https://stephantrenn.net/wp-content/uploads/2018/09/Preprint-TT180917.pdf, Preprint}, doi = {10.1016/j.automatica.2018.10.043}, year = {2019}, date = {2019-01-01}, journal = {Automatica}, volume = {99}, pages = {289-300}, abstract = {This paper studies detectability for switched linear differential–algebraic equations (DAEs) and its application to the synthesis of observers, which generate asymptotically converging state estimates. Equating detectability to asymptotic stability of zero-output-constrained state trajectories, and building on our work on interval-wise observability, we propose the notion of interval-wise detectability: If the output of the system is constrained to be identically zero over an interval, then the norm of the corresponding state trajectories scales down by a certain factor at the end of that interval. Conditions are provided under which the interval-wise detectability leads to asymptotic stability of zero-output-constrained state trajectories. An application is demonstrated in designing state estimators. Decomposing the state into observable and unobservable components, we show that if the observable component of the system is reset appropriately and persistently, then the estimation error converges to zero asymptotically under the interval-wise detectability assumption.}, keywords = {DAEs, observability, observer, piecewise-smooth-distributions, switched-DAEs, switched-systems}, pubstate = {published}, tppubtype = {article} } This paper studies detectability for switched linear differential–algebraic equations (DAEs) and its application to the synthesis of observers, which generate asymptotically converging state estimates. Equating detectability to asymptotic stability of zero-output-constrained state trajectories, and building on our work on interval-wise observability, we propose the notion of interval-wise detectability: If the output of the system is constrained to be identically zero over an interval, then the norm of the corresponding state trajectories scales down by a certain factor at the end of that interval. Conditions are provided under which the interval-wise detectability leads to asymptotic stability of zero-output-constrained state trajectories. An application is demonstrated in designing state estimators. Decomposing the state into observable and unobservable components, we show that if the observable component of the system is reset appropriately and persistently, then the estimation error converges to zero asymptotically under the interval-wise detectability assumption. |

## 2017 |

Küsters, Ferdinand; Trenn, Stephan; Wirsen, Andreas Switch-observer for switched linear systems Inproceedings Proc. 56th IEEE Conf. Decis. Control, pp. 1749 - 1754, Melbourne, Australia, 2017. Abstract | Links | BibTeX | Tags: CDC, observability, observer, switched-systems @inproceedings{KustTren17b, title = {Switch-observer for switched linear systems}, author = {Ferdinand Küsters and Stephan Trenn and Andreas Wirsen}, url = {http://stephantrenn.net/wp-content/uploads/2017/09/Preprint-KTW170901.pdf, Preprint}, doi = {10.1109/CDC.2017.8263903}, year = {2017}, date = {2017-12-12}, booktitle = {Proc. 56th IEEE Conf. Decis. Control}, pages = {1749 - 1754}, address = {Melbourne, Australia}, abstract = {To determine the switching signal and the state of a switched linear system, one usually requires mode observability. This requires that all individual modes are observable and that the modes are distinguishable. In theory, it allows to determine the active mode in an arbitrarily short time. If one enlarges the observation to an interval that contains a switch, both assumptions (observability of each mode and clearly distinct dynamics) can be relaxed. In [Küsters and Trenn 2017] this concept, called switch observability, was formalized. It is of particular interest for fault identification. Based on switch observability, we propose an observer. This observer combines the information obtained before and after a switching instant to determine both the state and the switching signal. It is analyzed and illustrated in an example.}, keywords = {CDC, observability, observer, switched-systems}, pubstate = {published}, tppubtype = {inproceedings} } To determine the switching signal and the state of a switched linear system, one usually requires mode observability. This requires that all individual modes are observable and that the modes are distinguishable. In theory, it allows to determine the active mode in an arbitrarily short time. If one enlarges the observation to an interval that contains a switch, both assumptions (observability of each mode and clearly distinct dynamics) can be relaxed. In [Küsters and Trenn 2017] this concept, called switch observability, was formalized. It is of particular interest for fault identification. Based on switch observability, we propose an observer. This observer combines the information obtained before and after a switching instant to determine both the state and the switching signal. It is analyzed and illustrated in an example. |

Küsters, Ferdinand; Trenn, Stephan; Wirsen, Andreas Switch observability for homogeneous switched DAEs Inproceedings Proc. 20th IFAC World Congress 2017, pp. 9355 - 9360, Toulouse, France, 2017, ISSN: 2405-8963. Abstract | Links | BibTeX | Tags: observability, observer, piecewise-smooth-distributions, switched-DAEs, switched-systems @inproceedings{KustTren17a, title = {Switch observability for homogeneous switched DAEs}, author = {Ferdinand Küsters and Stephan Trenn and Andreas Wirsen}, url = {http://stephantrenn.net/wp-content/uploads/2017/09/Preprint-KTW170315.pdf, Preprint}, doi = {10.1016/j.ifacol.2017.08.1434}, issn = {2405-8963}, year = {2017}, date = {2017-03-25}, booktitle = {Proc. 20th IFAC World Congress 2017}, journal = {IFAC-PapersOnLine}, volume = {50}, number = {1}, pages = {9355 - 9360}, address = {Toulouse, France}, abstract = {We introduce the notions of switching time observability and switch observability for homogeneous switched differential-algebraic equations (DAEs). In contrast to mode detection, they do not require observability of the individual modes and are thus more suitable for fault detection and identification. Based on results in (Küsters and Trenn, 2017) for switched ordinary differential equations (ODEs), we characterize these notions for homogeneous switched DAEs and propose an observer for switch observable systems.}, keywords = {observability, observer, piecewise-smooth-distributions, switched-DAEs, switched-systems}, pubstate = {published}, tppubtype = {inproceedings} } We introduce the notions of switching time observability and switch observability for homogeneous switched differential-algebraic equations (DAEs). In contrast to mode detection, they do not require observability of the individual modes and are thus more suitable for fault detection and identification. Based on results in (Küsters and Trenn, 2017) for switched ordinary differential equations (ODEs), we characterize these notions for homogeneous switched DAEs and propose an observer for switch observable systems. |

Tanwani, Aneel; Trenn, Stephan Observer design for detectable switched differential-algebraic equations Inproceedings Proc. 20th IFAC World Congress 2017, pp. 2953 - 2958, Toulouse, France, 2017, ISSN: 2405-8963. Abstract | Links | BibTeX | Tags: DAEs, observability, observer, piecewise-smooth-distributions, stability, switched-DAEs, switched-systems @inproceedings{TanwTren17b, title = {Observer design for detectable switched differential-algebraic equations}, author = {Aneel Tanwani and Stephan Trenn}, url = {http://stephantrenn.net/wp-content/uploads/2017/09/Preprint-TT170320.pdf, Preprint}, doi = {10.1016/j.ifacol.2017.08.659}, issn = {2405-8963}, year = {2017}, date = {2017-03-22}, booktitle = {Proc. 20th IFAC World Congress 2017}, journal = {IFAC-PapersOnLine}, volume = {50}, number = {1}, pages = {2953 - 2958}, address = {Toulouse, France}, abstract = {This paper studies detectability for switched linear differential-algebraic equations (DAEs) and its application in synthesis of observers. Equating detectability to asymptotic stability of zero-output-constrained state trajectories, and building on our work on interval-wise observability, we propose the notion of interval-wise detectability: If the output of the system is constrained to be identically zero over an interval, then the norm of the corresponding state trajectories scales down by a certain factor over that interval. Conditions are provided under which the interval-wise detectability leads to asymptotic stability of zero-output-constrained state trajectories. An application is demonstrated in designing state estimators. Decomposing the state into observable and unobservable components, we show that if the observable component in the estimator is reset appropriately and persistently, then the estimation error converges to zero asymptotically under the interval-wise detectability assumption.}, keywords = {DAEs, observability, observer, piecewise-smooth-distributions, stability, switched-DAEs, switched-systems}, pubstate = {published}, tppubtype = {inproceedings} } This paper studies detectability for switched linear differential-algebraic equations (DAEs) and its application in synthesis of observers. Equating detectability to asymptotic stability of zero-output-constrained state trajectories, and building on our work on interval-wise observability, we propose the notion of interval-wise detectability: If the output of the system is constrained to be identically zero over an interval, then the norm of the corresponding state trajectories scales down by a certain factor over that interval. Conditions are provided under which the interval-wise detectability leads to asymptotic stability of zero-output-constrained state trajectories. An application is demonstrated in designing state estimators. Decomposing the state into observable and unobservable components, we show that if the observable component in the estimator is reset appropriately and persistently, then the estimation error converges to zero asymptotically under the interval-wise detectability assumption. |

Tanwani, Aneel; Trenn, Stephan Determinability and state estimation for switched differential–algebraic equations Journal Article Automatica, 76 , pp. 17–31, 2017, ISSN: 0005-1098. Abstract | Links | BibTeX | Tags: DAEs, observability, observer, piecewise-smooth-distributions, switched-DAEs, switched-systems @article{TanwTren17, title = {Determinability and state estimation for switched differential–algebraic equations}, author = {Aneel Tanwani and Stephan Trenn}, url = {http://stephantrenn.net/wp-content/uploads/2017/09/Preprint-TT160919.pdf, Preprint}, doi = {10.1016/j.automatica.2016.10.024}, issn = {0005-1098}, year = {2017}, date = {2017-02-01}, journal = {Automatica}, volume = {76}, pages = {17--31}, abstract = {The problem of state reconstruction and estimation is considered for a class of switched dynamical systems whose subsystems are modeled using linear differential–algebraic equations (DAEs). Since this system class imposes time-varying dynamic and static (in the form of algebraic constraints) relations on the evolution of state trajectories, an appropriate notion of observability is presented which accommodates these phenomena. Based on this notion, we first derive a formula for the reconstruction of the state of the system where we explicitly obtain an injective mapping from the output to the state. In practice, such a mapping may be difficult to realize numerically and hence a class of estimators is proposed which ensures that the state estimate converges asymptotically to the real state of the system.}, keywords = {DAEs, observability, observer, piecewise-smooth-distributions, switched-DAEs, switched-systems}, pubstate = {published}, tppubtype = {article} } The problem of state reconstruction and estimation is considered for a class of switched dynamical systems whose subsystems are modeled using linear differential–algebraic equations (DAEs). Since this system class imposes time-varying dynamic and static (in the form of algebraic constraints) relations on the evolution of state trajectories, an appropriate notion of observability is presented which accommodates these phenomena. Based on this notion, we first derive a formula for the reconstruction of the state of the system where we explicitly obtain an injective mapping from the output to the state. In practice, such a mapping may be difficult to realize numerically and hence a class of estimators is proposed which ensures that the state estimate converges asymptotically to the real state of the system. |

## 2016 |

Küsters, Ferdinand; Trenn, Stephan; Wirsen, Andreas Observer design based on constant-input observability for DAEs Inproceedings PAMM - Proc. Appl. Math. Mech., pp. 813–814, WILEY-VCH Verlag, 2016, ISSN: 1617-7061. Abstract | Links | BibTeX | Tags: DAEs, observability, observer @inproceedings{KustTren16b, title = {Observer design based on constant-input observability for DAEs}, author = {Ferdinand Küsters and Stephan Trenn and Andreas Wirsen}, url = {http://stephantrenn.net/wp-content/uploads/2017/09/Preprint-KTW160511.pdf, Preprint}, doi = {10.1002/pamm.201610395}, issn = {1617-7061}, year = {2016}, date = {2016-01-01}, booktitle = {PAMM - Proc. Appl. Math. Mech.}, volume = {16}, number = {1}, pages = {813--814}, publisher = {WILEY-VCH Verlag}, abstract = {For differential-algebraic equations (DAEs) an observability notion is considered which assumes the input to be unknown and constant. Based on this, an observer design is proposed.}, keywords = {DAEs, observability, observer}, pubstate = {published}, tppubtype = {inproceedings} } For differential-algebraic equations (DAEs) an observability notion is considered which assumes the input to be unknown and constant. Based on this, an observer design is proposed. |

## 2013 |

Tanwani, Aneel; Trenn, Stephan An observer for switched differential-algebraic equations based on geometric characterization of observability Inproceedings Proc. 52nd IEEE Conf. Decis. Control, Florence, Italy, pp. 5981–5986, 2013. Abstract | Links | BibTeX | Tags: CDC, DAEs, observability, observer, piecewise-smooth-distributions, switched-DAEs, switched-systems @inproceedings{TanwTren13, title = {An observer for switched differential-algebraic equations based on geometric characterization of observability}, author = {Aneel Tanwani and Stephan Trenn}, url = {http://stephantrenn.net/wp-content/uploads/2017/09/Preprint-TT130909.pdf, Preprint}, doi = {10.1109/CDC.2013.6760833}, year = {2013}, date = {2013-12-12}, booktitle = {Proc. 52nd IEEE Conf. Decis. Control, Florence, Italy}, pages = {5981--5986}, abstract = {Based on our previous work dealing with geometric characterization of observability for switched differential-algebraic equations (switched DAEs), we propose an observer design for switched DAEs that generates an asymptotically convergent state estimate. Without assuming the observability of individual modes, the central idea in constructing the observer is to filter out the maximal information from the output of each of the active subsystems and combine it with the previously extracted information to obtain a good estimate of the state after a certain time has passed. In general, observability only holds when impulses in the output are taken into account, hence our observer incorporates the knowledge of impulses in the output. This is a distinguishing feature of our observer design compared to observers for switched ordinary differential equations.}, keywords = {CDC, DAEs, observability, observer, piecewise-smooth-distributions, switched-DAEs, switched-systems}, pubstate = {published}, tppubtype = {inproceedings} } Based on our previous work dealing with geometric characterization of observability for switched differential-algebraic equations (switched DAEs), we propose an observer design for switched DAEs that generates an asymptotically convergent state estimate. Without assuming the observability of individual modes, the central idea in constructing the observer is to filter out the maximal information from the output of each of the active subsystems and combine it with the previously extracted information to obtain a good estimate of the state after a certain time has passed. In general, observability only holds when impulses in the output are taken into account, hence our observer incorporates the knowledge of impulses in the output. This is a distinguishing feature of our observer design compared to observers for switched ordinary differential equations. |