Compensation for gradient-based adaptive observers

Abstract

A method of compensating adaptive observers for actuator noise is proposed. The main idea of the method is to filter the output error and use this filtered signal to adjust the state and parameter estimates of the observer. The error filter can be any system which satisfies certain very general criteria. A simulation is presented in which errors resulting from a sinusoidal input disturbance are negated by filtering the output error with a notch filter.