Sufficient excitation criteria for reduced-order adaptive observers

Sufficient excitation conditions are derived for three adaptive observation schemes for the case in which the order of the observer is less than that of the plant being observed. The reduced-order excitation requirement, found to be identical for all three observers, is that the input contain more than (n+N-1)/2 frequencies, where n is the observer order, and N is the dimension of the portion of the plant which is both controllable and observable.