Nonlinear observability via Koopman Analysis: Characterizing the role of symmetry

Abstract

This paper considers the observability of nonlinear systems from a Koopman operator theoretic perspective – and in particular – the effect of symmetry on observability. We first examine an infinite-dimensional linear system (constructed using independent Koopman eigenfunctions) and relate its observability properties to the observability of the original nonlinear system. Next, we derive an analytic relation between symmetry and nonlinear observability; it is shown that symmetry in the nonlinear dynamics is reflected in the symmetry of the corresponding Koopman eigenfunctions, as well as presence of repeated Koopman eigenvalues. We then proceed to show that loss of observability in symmetric nonlinear systems can be traced back to the presence of these repeated eigenvalues. In the case where we have a sufficient number of measurements, the nonlinear system remains unobservable when these functions have symmetries that mirror those of the dynamics. The proposed observability framework provides insights into the minimum number of measurements needed to make an unobservable nonlinear system, observable. The proposed results are then applied to a network of nano-electromechanical oscillators coupled via a symmetric interaction topology.