Nonlinear observer design by dynamic error linearization

In this paper we address the problem of transforming a nonlinear system into extended nonlinear observer canonical form(ENOCF) with the aid of an extended state space change of coordinates and redefinition of new outputs. The dynamic extension is achieved by adding some integrators to the outputs of original system. To be precise, auxiliary states and new outputs are chosen as the outputs of each integrators and the outputs of the last integrator of each blocks, respectively. Sufficient conditions in terms of Lie-algebra are proposed that are verifiable on the original state space.