Observers for Dynamic Systems with Uncertainty under the Condition of a Non-Ideal Relay

The problem of constructing observers for linear scalar systems with uncertainty is considered. A way of constructing an observer was created earlier that ensured an asymptotically accurate estimate of the state vector for ideal switching elements. The properties of such observers when there are typical imperfections in the relay elements (dead zones, hysteresis, and delays) are analyzed theoretically and numerically.