State and parameter estimation: a nonlinear Luenberger observer approach (long version)

The design of a nonlinear Luenberger observer for an extended nonlinear system resulting from a parameterized linear SISO (single-input single-output) system is studied. From an observability assumption of the system, the existence of such an observer is concluded. In a second step, a novel algorithm for the identification of such a system is suggested. Compared to the adaptive observers available in the literature, it has the advantage to be of low dimension and to admit a strict Lyapunov function.

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