Abstract
This paper investigates when n dimensional nonlinear systems can be immersed into n + m dimensional observer form using output diffeomorphism. We provide a necessary and sufficient condition which involves a differential equation with n + m + 1 unknowns; n + m unknowns for the state transformation, one for the output diffeomorphism. The algebraic structure of the characteristic equation is investigated, and an algorithm is presented to check the immersibility iteratively.
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