Kybernetika 51 no. 1, 36-58, 2015

Transformation of nonlinear state equations into the observer form: Necessary and sufficient conditions in terms of one-forms

Vadim Kaparin and Ülle KottaDOI: 10.14736/kyb-2015-1-0036

Abstract:

Necessary and sufficient conditions are given for the existence of state and output transformations, that bring single-input single-output nonlinear state equations into the observer form. The conditions are formulated in terms of differential one-forms, associated with an input-output equation of the system. An algorithm for transformation of the state equations into the observer form is presented and illustrated by an example.

Keywords:

nonlinear control system, state and output transformations, observer form, differential one-form

Classification:

93C10, 93B10, 93B17

paper.pdf

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