An algebraic framework for the design of nonlinear observers with unknown inputs

@article{Barbot2007AnAF,
  title={An algebraic framework for the design of nonlinear observers with unknown inputs},
  author={Jean-Pierre Barbot and Michel Fliess and Thierry Floquet},
  journal={2007 46th IEEE Conference on Decision and Control},
  year={2007},
  pages={384-389}
}
The observability properties of nonlinear systems with unknown inputs are characterized via differentially algebraic techniques. State variables and unknown inputs are estimated thanks to a new algebraic numerical differentiator. It is shown through an academic example and a concrete case-study that the proposed scheme can be applied to systems that fail to fulfill some usual structural assumptions. 
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