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Minimal order state observers for bilinear systems

This paper considers a minimal order state observer for a bilinear system. The given observer is an extension of one for a linear system and can be designed without considering inputs because the estimation error is made to be independent of inputs. The necessary condition for the existence of a minimal order observer and a standard form of a bilinear system satisfying this condition are presented. A standard form of a minimal order state observer is also obtained and the design procedure of this observer is shown. As an example, the observer of a d.c. motor is designed.