Extended observer form with vector fields
Tanel Mullari (Tallinn University of Technology)
Ülle Kotta (Tallinn University of Technology)
Arvo Kaldmäe (Tallinn University of Technology)
Vadim Kaparin (Tallinn University of Technology)
A. Simha (TU Delft - Networked Systems)
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Abstract
This paper addresses the problem of transforming a single-input single-output discrete-time system into the extended observer form which comprises a linear observable component and a nonlinear injection term depending on the input, output and their forward shifts up to a finite order. The necessary and sufficient conditions for the existence of the extended observer form are provided in terms of vector fields. The algorithm is presented to find a parametrised state transformation necessary to transform the system into the extended observer form. The obtained results are applicable also in case of non-reversible systems.