New adaptive observer design for uniformly observable nonlinear systems

New observation methodology is developed for inherently nonlinear systems satisfying the complete uniform observability condition. Under the assumption that the system nonlinearities are continuously differentiable, we show that the design of globally converging observers for triangular uniformly observable systems is always possible whatever the form of the nonlinearities. Illustrative example is introduced to show the effectiveness and the novelty of the proposed design.