Adaptive Controller and Observer Design Using Open and Closed-Loop Reference Models for Linear Time-Invariant Systems With Unknown Dynamics

This article presents an output feedback controller and observer design approach for linear time-invariant systems with unknown dynamics. The presented method uses an open-loop reference model to generate the desired trajectory and a closed-loop reference model as an observer. The controller only uses the observer states. Lyapunov-based stability proofs show that the error states converge asymptotically to zero and that all other signals are uniformly stable. Furthermore, bounds are proven on the transient behavior.