  This paper introduces an adaptive polytopic estimator design for nonlinear
systems under bounded disturbances combining moving horizon and dual estimation
techniques. It extends the moving horizon estimation results for LTI systems to
polytopic LPV systems. The design and necessary conditions to guarantee the
robust stability and convergence to the true state and parameters for the case
of bounded disturbances and convergence to the true system and state are given
for the vanishing disturbances.
