Discrete Generalized Nonlinear Observer Canonical Form

Abstract

In this paper, we define a discrete d-generalized nonlinear observer canonical form (GNOCF) that is more general than nonlinear observer canonical form (NOCF). Geometric necessary and sufficient conditions for the state equivalence to a d-GNOCF are found together with MATLAB programs. Our conditions with $$d=0$$ also give the geometric necessary and sufficient conditions for the state equivalence to a NOCF with output transformation (OT). Since our proofs are constructive, an OT and a state transformation can also be found in the theorem.