Automatica, Vol.49, No.4, 943-948, 2013
Moving horizon estimation: Error dynamics and bounding error sets for robust control
In this work we present a method for the derivation of the estimation error dynamics, the bounding set of the estimation error, and the state estimate dynamic equations of the constrained Moving Horizon Estimator (MHE). (C) 2013 Elsevier Ltd. All rights reserved.