  This note presents a new method for set-based joint state and parameter
estimation of discrete-time systems using constrained zonotopes. This is done
by extending previous set-based state estimation methods to include parameter
identification in a unified framework. Unlike in interval-based methods, the
existing dependencies between states and model parameters are maintained from
one time step to the next, thus providing a more accurate estimation scheme. In
addition, the enclosure of states and parameters is refined using measurements
through generalized intersections, which are properly captured by constrained
zonotopes. The advantages of the new approach are highlighted in two numerical
examples.
