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Zbl 0772.93017
Proychev, T.Ph.; Mishkov, R.L.
Transformation of nonlinear systems in observer canonical form with reduced dependency on derivatives of the input. (English)
[J] Automatica 29, No.2, 495-498 (1993). ISSN 0005-1098

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.

MSC 2000:: *93B17 System transformation
93C15 Control systems governed by ODE
93B10 Canonical structure of systems

Keywords: nonlinear multi-input-multi-output systems; canonical model; example

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