Nonlinear adaptive observer design for uncertain dynamical systems

摘要

We address the problem of adaptive state estimation for multivariable nonlinear systems in the presence of parameter uncertainty and bounded disturbances. The nonlinear adaptive observer uses a time varying gain matrix and usual Lyapunov arguments are employed in order to guarantee stability for the state and parameter errors. The presence of perturbations are considered and no SPR assumption is required in order to prove stability.