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Algorithm to Compute Nonlinear Partial Observer Normal Form With Multiple Outputs
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DOI：10.1109/TAC.2019.2946528.png)
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Abstract
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It is well known that observer design is a powerful tool to estimate the states of a dynamical system. Given a multioutput nonlinear dynamical system whose states are partially observable, this article investigates the problem of observer design to estimate those observable states. First, it considers a nonlinear system without inputs, and then provides a set of geometric conditions, guaranteeing the existence of a change of coordinates, which splits the studied nonlinear dynamical system into two subsystems, where one of them is of the well-known nonlinear observer normal form, for which a Luenberger-like observer can be designed. An extension to nonlinear systems with inputs has then been deduced.
Keywords:
Observers
Nonlinear dynamical systems
Observability
Mathematical model
Transforms
Differential geometric method
observer design
partially observable
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