Modeling and simulation of nonlinear and adaptive observers

This paper is concerned with methods of designing nonlinear state observers for polynomic systems, which can be modeled by state equations with linear, bilinear, and quadratic terms. The general structure of polynomic observers is introduced and simulation serves as a useful tool to determine the final observer parameters. In the case of polynomic systems and linear systems, where some of the parameters are unknown, the polynomic observer theory can also be applied for a combined estimation of states and parameters. Several examples are given to demonstrate the necessity of modeling and simulation for choosing the observer structure as well as for adjusting the observer parameters.