Decentralized block triangular observer design for nonlinear systems

Variants of nonlinear normal form observer design

“…This approach is similar to the extended Kalman filter and requires only the observability rank condition (9.9). The third variant concerns the block-triangular (normal.form) observer [16,17,18,19], where the presence of multiple outputs is used to decompose the original system in subsystems that have to be connected in a cascade. This structure allows a decentral (normal form) observer design.…”

“…Block-triangular observers [16,17,18,19] are designed in a decentral approach, i.e. they are designed by considering subsystems.…”

“…The first step of the decentral approach is to decompose the system (9.39) into single output observable subsystems [16,17,18,19]. (9 9 can be connected mutually by their states (see Figure la), or they can be connected in a cascade or block-triangular .form (see Figure lb), respectively 9 A mutual connection by the outputs (Figure lc) is a special case of a block-triangular form.…”

“…(9 9 can be connected mutually by their states (see Figure la), or they can be connected in a cascade or block-triangular .form (see Figure lb), respectively 9 A mutual connection by the outputs (Figure lc) is a special case of a block-triangular form. [16,17,18,19].…”