Observer design for a generalized class of nonlinear dynamical systems with input

This paper deals with observer design for a generalized nonlinear observer normal forms. At first we propose a more extensive class of nonlinear dynamical systems with input than proposed in [16]. Next, by taking a series of changes of coordinates and by means of extended auxiliary variables, we transform the proposed nonlinear systems into nonlinear observer normal forms. The key point is that this method is not based on the Lie derivative. Finally, by giving two examples, we verify the validity and correctness of our theory.