Parameter identification algorithm for a LTV system with partially unknown state matrix

Abstract

In this paper an adaptive state observer and parameter identification algorithm for a linear time-varying system is developed under condition that the state matrix of the system contains unknown time-varying parameters of a known form. The state vector is observed using only output and input measurements without identification of the unknown parameters. When the state vector estimate is obtained, the identification algorithm is applied to find unknown parameters of the system. Since the general mathematical model is considered, the proposed algorithm can be applied for different technical objects, such as mobile robots, manipulators, electro-mechanical systems, etc.