Nonlinear Observer Design using Implicit System Descriptions

Observers are usually formulated as explicit systemsof differential equations and implemented using standardODE solvers. In this paper, we show that therecan be advantages in formulating the observer as aDAE (Differential-Algebraic Equation). We reviewthe general idea of DAE observer design of [10]. Wegive two special normal forms for which DAE observerdesign yields an observer with linear error dynamics.The idea to use DAE observer normal forms is introducedon index one DAE observers...