Abstract
The paper surveys investigations concerned with controllability, observability, controller, and observer forms for nonlinear scalar input and scalar output systems ▪. Nonlinear canonical (normal) forms can be used for analysis of controllability and observability or for design of nonlinear state feedback and observer systems. The existence and calculation of nonlinear canonical forms require extensive assumptions for the functions f(x, u) and h(x, u). On the other side, nonlinear normal forms can be generalized without loss of their characteristic properties. Normal forms and their generalizations are useful to analyse and to classify nonlinear models with respect to structural properties or suitable design methods.
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