Asymptotic state and parameter observation for dynamical systems with nonlinear parameterisation

We consider the problem of asymptotic reconstruction of state and parameter values in dynamical systems that cannot be transformed into a canonical adaptive observer form. A solution to this problem is proposed for certain classes of systems for which parameters enter the model nonlinearly. In addition to asymptotic Lyapunov stability, we provide for these classes, a reconstruction technique based on the notions of weakly attracting sets and nonuniform convergence.