Adaptive high gain observers for a class of MIMO nonlinear systems

This paper deals with adaptive observers designs for some class of uniformly observable systems. Indeed, an adaptive observer is proposed for the on-line estimation of the state and the unknown parameters involved in the system dynamics as well as in the output expression. It is shown that the equations of the proposed observer can be derived using two approaches, namely the adaptive approach and extended-high gain observer-based approach. The observer design is detailed under both approaches and the equivalence between the underlying observer equations is established.