This paper presents an observer design strategy for a class of nonlinear systems with unknown parameters based on set-based estimation. Using this approach, it is possible to evaluate dynamic bounds for the parameter and state estimation errors. By the assumption of a known initial uncertainty radius, it is shown that the algorithm is able to update the uncertainty radius without exclude the true parameters and state values from the new contracted set. Moreover, it is showed the observer stability and parameters convergence. Finally, the proposed approach is tested using the simulation of a three-state variable CSTR problem with a partially measured state and two unknown parameters.
['Guilherme A.A. Gonçalves', 'Argimiro Resende Secchi', 'Martin Guay']
Discrete-time state and parameter estimation using a set-based approach