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Both vehicle state and driver's torque estimation using Unknown Input Proportional Multi-Integral T-S observer

In this work, an Unknown Input Proportional Multi-Integral Takagi-Sugeno (UIPMIT-S) observer is designed to estimate both the lateral vehicle states and the driver's torque considered as unknown input. The observer design is formulated in LMI framework to lead all the T-S observer sub-models poles in a D-stable region. The LMI constraints related to the D-stable region force the convergence of the estimation errors with a controllable decay rate and limit overshooting in the transient phase. The proposed approach is validated first, in numerical simulations, and after using the LAMIH driving dynamic simulator SHERPA.