On the Global Convergence of Nonlinear Nonconvex Estimators

Abstract

he main contribution in this paper is focused mainly in obtaining insight in the requirements of excitation from the geometric properties of a general nonalgebraic nonconvex cost functional for parameter identification when global and local structural identifiability are assumed previously. In this analysis we give a detailed account of the mathematical aspects without assuming a particular estimator or adaptive law. Furthermore the formulation is mainly devoted to continuous-time estimation but the extension to the discrete-time case is straightforward.