Observer Design for Nonlinear Systems

Chapter 1. Nonlinear Observability and the Observer Design Problem.- Part I: Normal Forms and Their Observers.- Chapter 2. Introduction.- Chapter 3. State-affine Normal Forms.- Chapter 4. Triangular Forms.- Part II: Transformation into a Normal Form.- Chapter 5. Introduction.- Chapter 6. Transformations into State-affine Normal Forms.- Chapter 7. Transformation into Triangular Forms.- Part III: Expression of the Dynamics of the Observer in the System Coordinates.- Chapter 8. Motivation and Problem Statement.- Chapter 9. Around Problem 8.1 : Augmenting an Injective Immersion into a Diffeomorphism.- Chapter 10. Around Problem 8.2 : Image Extension of a Diffeomorphism.- Chapter 11. Generalizations and Examples.