We present an experimental demonstration of closed-loop quantum parameter estimation in which real-time feedback is used to achieve robustness to modeling uncertainty. By performing broadband estimation of a magnetic field acting on hyperfine spins in a cold atom ensemble, we show that accuracy is not compromised by fluctuations in total atom number even though the measured signal in our canonical configuration depends only on the product of the field and atom number. This methodology could be essential for efforts to utilize conditional squeezing in spin-resonance measurements.
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