Extended observer form: simple existence conditions |
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| Authors: | V. Kaparin Ü. Kotta T. Mullari |
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| Affiliation: | 1. Institute of Cybernetics at Tallinn University of Technology, Akadeemia tee 21, 12618 Tallinn, Estoniavkaparin@cc.ioc.ee;3. Institute of Cybernetics at Tallinn University of Technology, Akadeemia tee 21, 12618 Tallinn, Estonia |
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| Abstract: | The paper focuses on the problem of transforming the discrete-time single-input single-output nonlinear state equations into the extended observer form, which, besides the input and output, also depends on a finite number of their past values. The simple necessary and sufficient conditions for the existence of the extended coordinate change and the output transformation, allowing to solve the problem, are formulated in terms of certain partial derivatives, related to the input–output equation, corresponding to the state equations. Moreover, a certain algorithm for transforming the state equations into the observer form is proposed. |
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| Keywords: | nonlinear control system discrete-time system extended coordinate change output transformation extended observer form |
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