Transformation the Nonlinear System into the Observer Form: Simplification and Extension

The paper addresses the problem of transforming the discrete-time single-input single-output nonlinear control system into the observer form using the state and output transformations. The necessary and sufficient solvability conditions are formulated in terms of differential one-forms, associated with the input-output equation of the control system. These conditions simplify the existing conditions [10] and extend them for the systems with inputs. The procedures to find the state and output transformations are given.