研究具有时变和模有界的参数不确定性系统的状态估计问题 .针对目前鲁棒状态估计中不确定性参数仅出现于状态矩阵和输出矩阵的问题 ,介绍了一种系统状态方程和输出方程的所有矩阵中都含有不确定性参数的状态估计算法 .该算法通过求解两个代数 Riccati方程的正定解 ,得到了使得估计过程二次稳定的状态估计器 .此算法不但经过了理论证明 ,而且具体的仿真试验也表明了设计方法的有效性和可行性 The problem of state estimation for uncertain systems with time-varying and bounded parameters is studied.Aiming at the problem that the uncertain parameters only appear in the state matrix and the output matrix in the current state estimation, a system state equation and output All matrices of the equation contain the state estimation algorithm of uncertain parameters.The algorithm obtains the state estimator which makes the estimation process quadratic stable by solving the positive definite solutions of two algebraic Riccati equations.This algorithm not only has been proved theoretically, And the concrete simulation test also shows the validity and feasibility of the design method