An adaptive observer for joint estimation of states and parameters in both state and output equations

Abstract : An adaptive observer is a recursive algorithm for joint state-parameter estimation of parameterized state-space systems. Previous works on globally convergent adaptive observers consider unknown parameters either in state equations or in output equations, but not in both of them. In this paper, a new adaptive observer is designed for linear time-varying systems with unknown parameters in both state and output equations. Its global convergence for simultaneous estimation of states and parameters is formally established under appropriate assumptions. A numerical example is presented to illustrate the performance of this adaptive observer.