A block triangular nonlinear observer normal form (Q1333842)

The authors introduce the block triangular observer normal form and present an observer design method which yields exponential convergence. Then, observability properties and observable normal forms are used for the formulation of necessary and sufficient conditions for the existence of transformations (local changes of state coordinates) of a nonlinear system into a block triangular observer normal form. By interpreting the outputs feedback to a subsystem in a series connection, as inputs to these systems, one may eliminate input derivatives in state representations. Several illustrative examples are given.