IEEE Transactions on Automatic Control, Vol.59, No.9, 2502-2508, 2014
The Observer Error Linearization Problem via Dynamic Compensation
Linearization by output injection has played a key role in the observer design for nonlinear control systems for almost three decades. In this technical note, following some recent works, geometric necessary and sufficient conditions are derived for the existence of a dynamic compensator solving the problem under regular output transformation. An algorithm which computes a compensator of minimal order is given.