International Journal of Control, Vol.86, No.5, 794-803, 2013
Extended observer form: simple existence conditions
The paper focuses on the problem of transforming the discrete-time single-input single-output nonlinear state equations into the extended observer form, which, besides the input and output, also depends on a finite number of their past values. The simple necessary and sufficient conditions for the existence of the extended coordinate change and the output transformation, allowing to solve the problem, are formulated in terms of certain partial derivatives, related to the inputoutput equation, corresponding to the state equations. Moreover, a certain algorithm for transforming the state equations into the observer form is proposed.
Keywords:nonlinear control system;discrete-time system;extended coordinate change;output transformation;extended observer form