Chapter 4: Theory of Nonlinear Observability in the Absence of Unknown Inputs
Agostino Martinelli · Society for Industrial and Applied Mathematics eBooks · 2020
The goal of this chapter is to provide basic results about state observability. In particular, one of the most important results is the analytic test to automatically check whether the state that characterizes a given system is observable or not. In the case when the dynamics are not driven by unknown inputs (that is, the case studied in the present chapter), this automatic test was introduced in the 1970s [19]: it is the observability rank condition.14