Observability Measures for Nonlinear Systems

In this paper, the nonlinear observability problem is revisited and studied in a novel framework that is particularly well-suited for the consideration of different practical aspects of the corresponding state estimation problem. In establishing this framework, we highlight connections between fundamental theoretical aspects of the general observability problem with more quantitative considerations similar to those encountered in numerical analysis. A key result of our novel analysis of the observability problem is the introduction of quantitative observability measures for nonlinear systems as a generalization of the notion of observability gramians for linear systems.

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