# Interval Observer of Minimal Error Dynamics

## TL;DR

This paper introduces a straightforward interval observer that provides tighter state estimates during transients by leveraging nonlinear dynamics, achieving bounded estimation errors even with disturbances.

## Contribution

It presents a simple nonlinear interval observer that improves transient estimation accuracy and guarantees bounded errors under disturbances.

## Key findings

- Tighter interval estimates during transient states.
- Guaranteed bounded errors with disturbances.
- Effective in systems with bounded disturbances.

## Abstract

This paper proposes a simple interval observer which can generate tighter interval estimates of variables in transient states than the standard interval observer. The simple nonlinear dynamics shrinks the estimated intervals to true state variables at the maximum velocity in the absence of disturbances. In the presence of bounded disturbances, ultimate bounded of the interval estimates are given under the standard assumption for interval observer design.