Transformation to state affine system and observer design.

A NSC for the transformation to the state affine systems of MISO nonlinear systems has been obtained. The main result is stated in terms of the I/O differential equation and some one-forms obtained in a straightforward way and easy to check. With the help of a regular transformation, one avoids the time varying computation of the observer gain matrice an then a Kalmanlike observer Σo (4.3) for the transformed system Σa (4.2) can be directly applied. [ABSTRACT FROM AUTHOR]