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A Block Triangular Form for Nonlinear Observer Design

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2 Author(s)
Yebin Wang ; Dept. of Electr. & Comput. Eng., Alberta Univ., Edmonton, Alta. ; Lynch, A.F.

This note reconsiders existence conditions for an established block triangular form (BTF) for a broad class of multi-output nonlinear systems. Systems transformable into BTF coordinates allow for decentralized observer design performed subsystem-at-a-time effectively treating upper subsystem states as measurements. Sufficient conditions are given to ensure that the output is linear in BTF coordinates. An example illustrates the BTF construction and a typical observer design

Published in:

Automatic Control, IEEE Transactions on  (Volume:51 ,  Issue: 11 )