Nonlinear Observer Design for Smooth Systems

Recently Kazantzis-Kravaris and Kreisselmeier-Engel have suggested two apparently difierent approaches to constructing observers for nonlinear systems. We show that these approaches are closely related and lead to observers with linear error dynamics in transformed variables. In particular we give su-cient conditions for the existence of smooth solutions to the Kazantzis-Kravaris PDE.

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