On the Output Transformation to an Observer Form

Y. Wang (USA), A.F. Lynch (Canada), and S.A. Bortoff (USA)


Nonlinear observer, differential geometry, normal form.


This paper investigates the transformability of an unforced multi-output nonlinear system to a multi-output observer form. The existence conditions of an output transforma tion and a change of state coordinates are presented in a more concise form than those given in literatures. Given an output transformation, verifying these conditions can re veal if the unforced system is transformable to the observer form. Necessary conditions on the output transformation are given for the single output and multi-output nonlinear systems. These necessary conditions are stated as a set of first order partial differential equations, which are rel atively easy to solve and potentially useful to otain the out put transformation candidates.

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