The article addresses the problem of a robust adaptive observer design for multi-input multi-output linear time-invariant plants subjected to bounded disturbances in the system dynamics and the output relation. An adaptive observer design is proposed based on the finite excitation leading to a switched estimation strategy thus relaxing persistence of excitation (PE) condition. The novel finite persistence excitation (f-PE) condition introduced in this work is significantly milder than the PE condition in terms of excitation requirement and online verifiability. The switched estimator uses the finite excitation via input signal and ensures uniformly ultimately bounded stability of the estimation error dynamics. A multiple switching strategy, which continuously tracks the information richness (about the unknown parameters), is utilized to reduce the intermediate bounds and is proved to be instrumental in improving the result.

中文翻译：

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用于 MIMO LTI 系统的基于有限激励的鲁棒自适应观测器

本文解决了在系统动力学和输出关系中受到有界扰动的多输入多输出线性时不变设备的鲁棒自适应观测器设计问题。提出了一种基于有限激励的自适应观测器设计，从而导致切换估计策略，从而放松激励持续性 (PE) 条件。在这项工作中引入的新型有限持续激励 (f-PE) 条件在激励要求和在线可验证性方面明显比 PE 条件温和。切换估计器通过输入信号使用有限激励，并确保估计误差动态的统一最终有界稳定性。一种多重切换策略，持续跟踪信息丰富度（关于未知参数），