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We propose a partition-based state estimator for linear discrete-time systemscomposed by coupled subsystems affected by bounded disturbances. Thearchitecture is distributed in the sense that each subsystem is equipped with alocal state estimator that exploits suitable pieces of information from parentsubsystems. Moreover, differently from methods based on moving horizonestimation, our approach does not require the on-line solution to optimizationproblems. Our state-estimation scheme, that is based on the notion of practicalrobust positive invariance developed in Rakovic 2011, also guaranteessatisfaction of constraints on local estimation errors and it can be updatedwith a limited computational effort when subsystems are added or removed.

Distributed bounded-error state estimation for partitioned systems based on practical robust positive invariance