An adaptive high-gain observer for nonlinear systems

In this paper we present a high-gain observer for a general class of nonlinear SISO systems for which the high-gain parameter is determined on-line in an adaptive fashion. The adaptation scheme is simple and universal in the sense that it is independent of the system the observer is designed for. We prove that the observer output error becomes smaller than a user specified bound for large times and that the adaptation converges. The assumptions required for the adaptive high-gain observer are the same as for the nonadaptive high-gain observer, namely that the system is uniformly observable for any u(t)