Observer design based on triangular form generated by injective map

M. Hou, Krishna Busawon, M. Saif

Research output: Contribution to journalArticlepeer-review

38 Citations (Scopus)


A study is conducted which focuses on showing that for the multi-output case uniform observability is necessary but not sufficient for the existence of a coordinate change bringing a system a triangular form; providing a procedure to construct an injective map for the triangular form transformation; and developing a design of nonlinear observers based on the triangular form. Results show that a procedure is proposed for constructing an injective map as a generalized coordinate change for triangular form transformation. Based on the triangular form a method is developed for designing nonlinear state observers.
Original languageEnglish
Pages (from-to)1350-1355
JournalIEEE Transactions on Automatic Control
Issue number7
Publication statusPublished - Jul 2000


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