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Adaptive state estimation of state-affine systems with unknown time-varying parameters

ABSTRACT In this paper we provide two significant extensions to the recently developed parameter estimation-based observer design technique for state-affine systems. First, we consider the case when the full state of the system is reconstructed in spite of the presence of unknown, time-varying parameters entering into the system dynamics. Second, we address the problem of reduced order observers with finite convergence time. For the first problem, we propose a simple gradient-based adaptive observer that converges asymptotically under the assumption of generalised persistent excitation. For the reduced order observer we invoke the advanced dynamic regressor extension and mixing parameter estimator technique to show that we can achieve finite convergence time under the weak interval excitation assumption. Simulation results that illustrate the performance of the proposed adaptive observers are given. This include, an unobservable system, an example reported in the literature and the widely popular, and difficult to control, single-ended primary inductor converter.