Transformation of nonlinear systems in observer canonical form with reduced dependency on derivatives of the input. (English) Zbl 0772.93017

Summary: The transformation of nonlinear multi-input-multi-output systems \(\dot x=f(x,u)\), \(y=h(x,u)\) into an observer canonical form with reduced dependency on derivatives of the input is studied. Necessary and sufficient conditions for its existence and a straightforward algorithm for obtaining the canonical model are derived. The proposed method involves the solution of a nonlinear algebraic equation system and systems of first order linear partial differential equations. The nonlinear canonical form obtained permits global observer error linearization and it is a stage in the design of nonlinear observers. The method is illustrated by an example.


93B17 Transformations
93C15 Control/observation systems governed by ordinary differential equations
93B10 Canonical structure
Full Text: DOI


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