An observer for MIMO nonlinear delay systems

In this paper an asymptotic state observer for multi-input multi-output (M.I.M.O.) nonlinear delay systems is developed. On this matter many works have been published concerning the linear case, while for the nonlinear case to our knowledge the first result is the one in (Germani, et al., 1998d), that considers single-input single-output nonlinear delay systems. A suitable modification of the standard tools of differential geometry is used in this paper for the observer construction and to work out conditions of convergence to zero of the observation error. The implementation of the proposed observation algorithm is very easy and computer simulations show its effectiveness.