In case of computer control systems which require application of optimal control algorithms, it is required to have immediate access to state variables of the controlled system. When these state variables are unavailable or cannot be measured, it is necessary to use state observers that the reconstruct required system state based on extrapolation of the system input and output signals. However, the latest trends in control systems applications express additional requirements regarding increased flexibility and ability to adjust to changing environment conditions. This results in a combination of classic control algorithms with various modern techniques of supervision and control which leads to design of hierarchical multilayer computer control systems. In some cases, depending on deployment environment, there may appear some constraints or additional requirements to be satisfied, which may reduce the range of possible solutions. This applies especially to embedded systems, where resource constraints are always an issue which has to be taken into account.\ud This paper presents a new architecture for control systems with hierarchical exact state observers. The architecture incorporates policy-based computing to facilitate flexible, recon-figurable supervision logic and the achievement of environment awareness
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