Geodesic
Transformation of nonlinear state equations into the observer form: Necessary and sufficient conditions in terms of one-forms
Kybernetika, Tome 51 (2015) no. 1, pp. 36-58.

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Necessary and sufficient conditions are given for the existence of state and output transformations, that bring single-input single-output nonlinear state equations into the observer form. The conditions are formulated in terms of differential one-forms, associated with an input-output equation of the system. An algorithm for transformation of the state equations into the observer form is presented and illustrated by an example.
DOI : 10.14736/kyb-2015-1-0036
Classification : 93B10, 93B17, 93C10
Keywords: nonlinear control system; state and output transformations; observer form; differential one-form 
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Kaparin, Vadim; Kotta, Ülle. Transformation of nonlinear state equations into the observer form: Necessary and sufficient conditions in terms of one-forms. Kybernetika, Tome 51 (2015) no. 1, pp. 36-58. doi : 10.14736/kyb-2015-1-0036. http://geodesic.mathdoc.fr/articles/10.14736/kyb-2015-1-0036/

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