Nonlinear Observability and the Observer Design Problem
This preliminary chapter defines the problem of observer design for nonlinear systems and presents some basic notions of observability which will be needed throughout the book. It also formalizes and justifies the observer design methodology adopted in this book, which consists in looking for a reversible change of coordinates transforming the expression of the system dynamics into a target normal form, designing an observer in those coordinates, and finally deducing an estimate of the system state in the initial coordinates via inversion of the transformation.
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