udThis thesis is divided in two fundamental parts, namely, the Part I, in which the theoretical background of the UIO, Consensus Algorithms and Decentralized Systems is discussed; after a collection of algorithms is presented. In the Part II, some important applicative problems areudaddressed and solved by means of the proposed approaches.udMore specifically, as for the Part I, in Chapter 1 the fundamentals regarding the matrix and graph theory are recalled. In the subsequent Chapter 2 the attention is focused on the strong observability approach, and its main features are described. Chapter 3 refers to the presentationudof the Consensus algorithm, while in Chapter 4 an estimation algorithm is recalled, which allows the estimation of the state in an “overlapped” system also in presence of Unknown Inputs (in Chapter 5), which are estimated as well. In the Part II the estimation problems of flow ad infiltration, in open channel hydraulic sys-udtem are solved, using a UIO approach(in Chapters 6). In Chapters 7, considering open channel hydraulic system, the UIO approach is used to solve a problem of fault detection and compensation.
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