Abstract: This study deals with constant-gain adaptive observers for nonlinear systems, for which relatively few solutions are available for some particular cases. We introduce an asymptotic observer of constant gain for nonlinear systems that have linear input. This allows the observer design to be formulated within the linear matrix inequality paradigm provided that a strictly positive real condition between the input disturbance and the output is fulfilled. The proposed observer is then applied to a large class of nonlinear chemostat dynamical systems that are widely used in the fermentation process, cell cultures, medicine, etc. In fact, under standard practical assumptions, the necessary change of the chemostat state coordinates exists, allowing use of the constant-gain observer. Finally, the developed theory is illustrated by estimating pollutant concentration in a Spirulina maxima wastewater treatment facility.

Key words: Nonlinear observers, Adaptive observers, Coordinate change, Chemostat, Pollutant observation

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