Extended nonlinear observable canonical form for multi-output dynamical systems

Driss Boutat, Krishna Busawon

Research output: Chapter in Book/Report/Conference proceedingChapterpeer-review

7 Citations (Scopus)


In this paper, we give sufficient conditions which guarantee the existence of a diffeomorphism in an extended state space that allows to transform a multi-output nonlinear dynamical system into a nonlinear normal observable canonical form. In particular, we propose an algorithm that permits to derive such diffeomorphism. The main feature of the canonical form is that it is obtained by allowing a diffeomorphism on the outputs and a dynamic extension. It also allows to design an observer with linear error dynamics for the transformed system.
Original languageEnglish
Title of host publicationProceedings of the 48h IEEE Conference on Decision and Control (CDC) held jointly with 2009 28th Chinese Control Conference
Place of PublicationPiscataway, NJ
ISBN (Print)9781424438716
Publication statusPublished - 2009
EventIEEE Conference in Decision and Control - Shanghai
Duration: 1 Jan 2009 → …


ConferenceIEEE Conference in Decision and Control
Period1/01/09 → …


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