화학공학소재연구정보센터
IEEE Transactions on Automatic Control, Vol.51, No.11, 1803-1808, 2006
A block triangular form for nonlinear observer design
This note reconsiders existence conditions for an established block triangular form (BTF) for a broad class of multi-output nonlinear systems. Systems transformable into BTF coordinates allow for decentralized observer design performed subsystem-at-a-time effectively treating upper subsystem states as measurements. Sufficient conditions are given to ensure that the output is linear in BTF coordinates. An example illustrates the BTF construction and a typical observer design.