Abstract
This paper studies an adaptive high gain observer design for nonlinear systems which have lower triangular nonlinearity with Lipschitz coefficient, depending on the control input. Because the gain of the proposed observer is tuned automatically by a simple update law, our design approach doesn't need any information about the Lipschitz constant. Also, it is shown that under some assumptions, the dynamic gain of the proposed observer is bounded and its estimation error converges to zero asymptotically. Finally, a numerical example is given to verify the effectiveness of our design approach.
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