A Stable Adaptive Observer for a Class of Nonlinear Second Order Systems

  • Michel Gevers
  • Georges Bastin
Part of the Lecture Notes in Control and Information Sciences book series (LNCIS, volume 83)


We consider a class of single input single output second order nonlinear systems whose coefficients are bounded and have bounded time-variation. We describe an adaptive observer/identifier for these systems and derive sufficient conditions on the system and on the inputs that guarantee global stability of this adaptive observer. We present an application to a robot manipulator with two degrees of freedom.


Exponential Stability Global Stability Robot Manipulator Homogeneous Part Adaptive Observer 
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Copyright information

© Springer Science+Business Media Dordrecht 1986

Authors and Affiliations

  • Michel Gevers
    • 1
  • Georges Bastin
    • 2
  1. 1.Department of Systems Engineering, Research School of Physical SciencesAustralian National UniversityCanberraAustralia
  2. 2.Dynamique et Analyse des SystemesLouvain UniversityLouvain la NeuveBelgium

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