Abstract
Dynamics extension method has been developed for solving the observer design for nonlinear dynamical systems. This work provides a class of single output nonlinear dynamical system that can be transformed into an observability normal form. This normal form supports the well-known Luenberger or high-gain observer. Moreover, it brings out explicitly change of coordinates and auxiliary dynamics that allows such setting into observability normal form. This class of dynamical systems comes to expand the existing class of nonlinear systems in the literature that owns the property to be transformable into the observability normal form. Furthermore, this work is done without recourse to the calculation of the Lie brackets which makes them more comprehensible and easier to use in practice.
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