A systematic approach to adaptive observer synthesis for nonlinear systems. (English) Zbl 0873.93049

This paper considers the problem of state estimation from limited sensor measurements with uncertain parameters. The authors propose an adaptive nonlinear observer for Lipschitz nonlinear systems. Stability for this observer is shown to be related to finding solutions of a quadratic inequality in two variables. The authors present a systematic algorithm which checks for feasibility of a solution to the quadratic inequality using a numerically efficient interior point method. Whenever a feasible solution is identified, the algorithm provides the gains associated with the resulting observer. State estimation errors are guaranteed to converge to zero asymptotically. Convergence of parameters depends upon a persistence-of-excitation constraint.


93C40 Adaptive control/observation systems
93C10 Nonlinear systems in control theory
93B07 Observability


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