In this paper, we give sufficient conditions which guarantee the existence of a diffeomorphism in an extended state space that allows to transform a multi-output nonlinear dynamical system into a nonlinear normal observable canonical form. In particular, we propose an algorithm that permits to derive such diffeomorphism. The main feature of the canonical form is that it is obtained by allowing a diffeomorphism on the outputs and a dynamic extension. It also allows to design an observer with linear error dynamics for the transformed system.
|Title of host publication||Proceedings of the 48h IEEE Conference on Decision and Control (CDC) held jointly with 2009 28th Chinese Control Conference|
|Place of Publication||Piscataway, NJ|
|Publication status||Published - 2009|
|Event||IEEE Conference in Decision and Control - Shanghai|
Duration: 1 Jan 2009 → …
|Conference||IEEE Conference in Decision and Control|
|Period||1/01/09 → …|