Observer Error Linearization Multi-Output Depending

This paper gives the sufficient and necessary conditions which guarantee the existence of a reference frame in which a multi-output nonlinear system is linearizable with a linear part depending on its outputs. Our method is based on the design of a reference frame associated with nonlinear observable systems. Moreover, we give the generalization of the result obtained in the paper by Xia and Gao (1989) and Krener and Respndek (1985). And some examples are given in order to highlight our thinking