—This paper gives necessary and sufficient conditions to solve in a constructive way the transformation of a general multiple-input–single-output nonlinear system into a state affine system. This result is direct i.e., without solving the state elimination problem when computing the input-output differential equation. A Kalman-like observer can be designed… (More)
An observer design based on backstepping approach for a class of state affine systems is proposed. This class of nonlinear systems is determined via a constructive algorithm applied to a general nonlinear Multi Input-Multi Output systems. Some examples are given in order to illustrate the proposed methodology.