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We propose to explore switching methods in order to recover some propertiesof Kalmanlike observers for output feedback stabilization of state-affinesystems that may present observability singularities. The self-tuning gainmatrix in Kalman-like observers tend to be singular in the case ofnon-uniformly observable systems. We show in the case of state-affine systemswith observable target that it can be prevented by dynamically monitoringobservability of the system, and switching the control when it becomescritical.

Output feedback stabilization of non-uniformly observable systems by means of a switched Kalman-like observer