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The Extended Kalman Filter (EKF) can be used for parameter as well as for state estimation. However, when used for parameter estimation, EKF is sensitive to modeling uncertainties and prone to instability. In this paper, the Variable Structure filtering concept is introduced and used for modifying the EKF into a robust form. The proposed method is… (More)
In this paper, we describe an adaptive technique for states and parameter estimation involving a combination of two methods, namely the Variable Structure Filter (VSF) and the Extend Kalman Filters (EKF).