Observer Design for Nonlinear Systems with Delayed Output Measurement

This paper deals with nonlinear observer design for systems with delayed nonlinear outputs. The main idea behind this work consists of using a dynamic extension technique to transform a system with delayed nonlinear outputs into a system with linear outputs and a delay-dependent integral term in the dynamic process. First, a general result for arbitrary nonlinear structures is proposed, and then further contributions are provided for a specific family of systems, namely systems in companion form for which we obtain novel high-gain observer synthesis conditions.