In this paper, the design of an interval observer with an adaptive dynamical gain is presented. The observer is formulated in the framework of robust state estimation of uncertain dynamical systems, where an interval that encloses the unknown state variables is provided. For a specific type of interval observer design, an optimal gain could provide the narrowest interval. Since this gain depend...

In this paper, the popular PD control of robot manipulator is modified. A high-gain observer is proposed for the estimation of the velocity. The main contributions of this paper are: (1) By means of singular perturbation analysis, we prove that the closed-loop system is asymptotic stable; (2) We solve the problem of how faster the observer should be than the observer-based control. server's dyn...