TR2010-074

On the Output Transformation To An Observer Form



This paper investigates the transformability of an unforced multi-output nonlinear system to a multi-output observer form. The existence conditions of an output transformation and a change of state coordinates are presented in a more concise form than those given in literatures. Given an output transformation, verifying these conditions can reveal if the unforced system is transformable to the observer form. Necessary conditions on the output transformation are given for the single output and multi-output nonlinear systems. These necessary conditions are stated as a set of first order partial differential equations, which are relatively easy to solve and potentially useful to obtain the output transformation candidates.