Multi-output dependent observability normal form

G. Besancon, G. Bornard, State equivalence based observer design for nonlinear systems, in: Proc of IFAC World Congress, San Francisco CA, UAS, 1996, pp. 287–292 Besancon, 1996, Observer synthesis for a class of nonlinear control systems, European Journal on Control, 3, 176, 10.1016/S0947-3580(96)70043-2 G. Besancon, A viewpoint on observability and observer design for nonlinear systems, in: H. Nijmeijer, T.I. Fosse (Eds.), New Directions in Nonlinear Observer Design, Springer Busawon, 1998, A simple observer for a class of nonlinear systems, Applied Mathematics Letters, 11, 27, 10.1016/S0893-9659(98)00029-9 D. Boutat, G. Zheng, J.P. Barbot, Observer Error Linearization Multi-Output Depending, in: Proc. of IEEE CDC 06, 2006 Glumineau, 1996, New algebro-geometric conditions for the linearization by input–output injection, IEEE Transactions on Automatic Control, 41, 598, 10.1109/9.489283 M. Guay, Observer linearization by output diffeomorphism and output-dependent time-scale transformations, NOLCOS’01, Saint Petersburg, Russia, 2001, pp. 1443–1446 H. Hammouri, J. De Leon Morales, Observer synthesis for state-affine systems, in: Proc. of IEEE CDC 90, 1990 Isidori, 1995 Krener, 1983, Linearization by output injection and nonlinear observer, Systems and Control Letters, 3, 47, 10.1016/0167-6911(83)90037-3 Krener, 1985, Nonlinear observer with linearizable error dynamics, SIAM Journal on Control and Optimization, 30, 197, 10.1137/0323016 Nijmeijer, 1996 Perruquetti, 2002 F. Plestan, A. Glumineau, Linearization by generalized input–output injection, Systems Respondek, 2004, Time scaling for observer design with linearization error dynamics, IEEE Transactions on Automatic Control, 3, 199 Sampei, 1989, On time scaling for nonlinear systems: Application to linearization, IEEE Transactions on Automatic Control, 3, 199 Xia, 1989, Nonlinear observer design by observer error linearization, SIAM Journal on Control and Optimization, 27, 199, 10.1137/0327011 G. Zheng, D. Boutat, J.P. Barbot, Output dependent observability linear normal form, in: Proc. of IEEE CDC 05, 2005 Zheng, 2007, Single output-dependent observability normal form, SIAM Journal on Control and Optimization, 46, 10.1137/050627137 G. Zheng, D. Boutat, J.P. Barbot, Output depending quadratic observability normal form, in: Proc. of IFAC NOLCOS, 2007