A contribution on the parallel adaptive observer
The design of a parallel adaptive observer for LTI SISO \(n\)-th order systems is presented. A controllable-observable plant is supposed given in the form suggested by \textit{G. Kreisselmeier} [IEEE Trans. Autom. Control AC-22, 2-8 (1977; Zbl 0346.93043)]. The proposed observer has the same structure as the series-parallel observer considered in that paper changing only the output by its estimate. A filtered version of the normalized output error is used in the equations adjusting the identified parameters. It ensures their bounded solutions, the output error convergence to zero even in the bounded noise case, and also under persistently exciting input. A numerical example is supplied.
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