A system for actuating a safety control for a device including: (1) at least one sensor adapted to measure a parameter of the device and provide an output; (2) a Kalman filter adapted to receive the output of the at least one sensor and provide a state estimate and covariance value of the device; (3) a Lyapunov function adapted to receive the state estimate and covariance value from the Kalman filter and provide a time derivative; and (4) a comparator adapted to compare the time derivative to a reference value and provide a command decision to the device.

A system for actuating a safety control for a device including: (1) at least one sensor adapted to measure a parameter of the device and provide an output; (2) a Kalman filter adapted to receive the output of the at least one sensor and provide a state estimate and covariance value of the device; (3) a Lyapunov function adapted to receive the state estimate and covariance value from the Kalman filter and provide a time derivative; and (4) a comparator adapted to compare the time derivative to a reference value and provide a command decision to the device.