Adaptive Observer Design for General Nonlinear Systems with Linear Output Structure

This paper presents a novel approach to design an adaptive observer for general nonlinear systems subjected to linear output structure. At first, a multiple-input and single-output (MISO) system is considered, where the structure of the observer is proposed by using a linear residual signal. The on-line tuning of the observer gain is obtained using Lyapunov analysis. The proposed approach is then extended to multiple-input and multiple-output (MIMO) systems. Two simulated examples, namely a numerical model and an induction motor model, are used to demonstrate the proposed algorithms. Simulation results have shown a promising performance of the adaptive observer.