Lyapunov Redesign of Adaptive observer for linear time-varying systems

The adaptive observer for multiple-input-multiple-output (MIMO) linear time-varying systems in [1] is redeveloped using the Lyapunov redesign technique. The new design features more flexibility in transient and robust performance. A numeri-cal comparison between the proposed and the original design is conducted to assess their capabilities in the state and parameter estimation, focusing on a recent batch reactor case study.