# CDS 110b: State Estimation

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This set of lectures presents an introduction to modern (optimization-based) control design and introduces the concepts of state estimation and observers. Beginning with a definition of observability, we provide conditions under which a linear system is observable and show how to construct an observer in the case where there is no noise. We then prove the *separation principle*, which shows how to combine state regulation with state estimation.

## References and Further Reading

- K. J. Åström and R. M. Murray, Feedback Systems: An Introduction for Scientists and Engineers, Princeton University Press, 2008. Chapter 7 - Output Feedback. Sections 7.1-7.3