Observers for Systems with Discrete and Distributed Delays

An observer theory for linear systems containing discrete anddistributed delays in its state- and output equations is presented.In particular, existence criteria for observers with finite-dimensionalerror dynamics are derived. The stabilizability and eigenvalueassignability of the observation error dynamics are expressedin terms of the invariant zeros of a matrix function P(s), dependingon the discrete delay parameters and the parameters of a Gram-Schmidtexpansion of the distributed delay terms.