Observer design based on triangular form generated by injective map
IEEE Transactions on Automatic Control
A study is conducted which focuses on showing that for the multi-output case uniform observability is necessary but not sufficient for the existence of a coordinate change bringing a system a triangular form; providing a procedure to construct an injective map for the triangular form transformation; and developing a design of nonlinear observers based on the triangular form. Results show that a procedure is proposed for constructing an injective map as a generalized coordinate change for triangular form transformation. Based on the triangular form a method is developed for designing nonlinear state observers.
Hou, M.; Busawon, K.; and Saif, M.. (2000). Observer design based on triangular form generated by injective map. IEEE Transactions on Automatic Control, 45 (7), 1350-1355.