On characterizing classes of observer forms for nonlinear systems

In this paper, constructive procedures for detecting transformability of nonlinear systems into some particular forms useful for observer design are derived from previous work of (Besancon and Bornard, 1996) and recent results of (Hammouri and Kinnaert, 1996). Tests for such transformations only involve usual differential and exterior calculus, and as a consequence, computations are quite feasable and can even be carried out by symbolic computing systems.