Automatica, Vol.45, No.11, 2483-2490, 2009
Canonical observer forms for multi-output systems up to coordinate and output transformations in discrete time
In the present paper the problem of equivalence under coordinate changes and output transformations to observer canonical forms is addressed in discrete time for multi-output systems. Necessary and sufficient conditions are given for local equivalence to this form which yields a straightforward observer design with linear error dynamics. (C) 2009 Elsevier Ltd. All rights reserved.
Keywords:Discrete-time nonlinear systems;State equivalence;Nonlinear observers;Differential geometry