G. Ferrari-Trecate and M. Gati. Computation observability regions for discrete-time hybrid systems. Proc. 42th Conference on Decision and Control , pages 1153--1158, 2003. Maui, Hawaii, US, 9-12 December.
In this paper we focus on observability for hybrid systems in themixed-logic dynamical form. We show that the maximal set ofobservable states, that is usually non convex and disconnected,can be represented as the union of finitely many polytopicregions. The argument, that is based on multi-parametricprogramming theory, is constructive and provides an algorithm forthe computation of the regions.