2018-10-182018-10-181742658810.1088/1742-6596/783/1/012014http://hdl.handle.net/11285/630406This paper addresses a method for detecting critical stability situations in the lateral vehicle dynamics by estimating the non-linear part of the tire forces. These forces indicate the road holding performance of the vehicle. The estimation method is based on a robust fault detection and estimation approach which minimize the disturbance and uncertainties to residual sensitivity. It consists in the design of a Proportional Integral Observer (PIO), while minimizing the well known H ∞ norm for the worst case uncertainties and disturbance attenuation, and combining a transient response specification. This multi-objective problem is formulated as a Linear Matrix Inequalities (LMI) feasibility problem where a cost function subject to LMI constraints is minimized. This approach is employed to generate a set of switched robust observers for uncertain switched systems, where the convergence of the observer is ensured using a Multiple Lyapunov Function (MLF). Whilst the forces to be estimated can not be physically measured, a simulation scenario with CarSimTM is presented to illustrate the developed method. © Published under licence by IOP Publishing Ltd.info:eu-repo/semantics/openAccesshttp://creativecommons.org/licenses/by-nc-nd/4.0Cost functionsEstimationFault detectionLyapunov functionsProportional control systemsRobustness (control systems)Two term control systemsDisturbance attenuationMulti-objective problemMultiple Lyapunov functionProportional integral observerProportional-integral observersResidual sensitivitiesRobust fault detectionUncertain switched systemsLinear matrix inequalities7 INGENIERÍA Y TECNOLOGÍAConferencia7831