Control Laws Based on Parameter Observation

This paper deals with the use of asymptotic observers in the parameter estimation. Exact and approximate procedures are proposed taking into account the nonlinear behaviour of the dynamic systems considered. It is shown that a separation property holds for sufficiently fast observers and, therefore, that parameter estimates obtained by asymptotic observers are useful for the implementation of feedback control laws. The paper is completed with an application to flexible robot arms for the estimation of the elastic constant. Simulation tests are included.