On the development of equiobservable forms for linear multivariable systems

Three types of equiobservable forms are developed here for linear time-invariant multivariable systems. These forms are developed using a nonminimal realization of a system and have properties that are useful in the analysis and design of state observation and parameter identification problems. By employing the third form, the state equation can be expressed by using filtered values generated from inputs and outputs in an algebraic form.