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The barrier function method for safety control typically assumes theavailability of full state information. Unfortunately, in many scenariosinvolving uncertain dynamical systems, full state information is oftenunavailable. In this paper, we aim to solve the safety control problem for anuncertain single-input single-output system with partial state information.First, we develop a synthesis method that simultaneously creates a barrierfunction and a dynamic output feedback safety controller. This safetycontroller guarantees that the unit sub-level set of the barrier function is aninvariant set under the uncertain dynamics and disturbances of the system.Then, we build an identifier-based estimator that provides a state estimateaffine to the uncertain model parameters of the system. To detect the potentialrisks of the system, a fault detector uses the state estimate to find an upperbound for the barrier function. The fault detector triggers the safetycontroller when the system's original action leads to a potential safety issueand resumes the original action when the potential safety issue is resolved bythe safety controller.

Barrier Pairs for Safety Control of Uncertain Output Feedback Systems