Observer design for discrete-time nonlinear systems

This paper is a geometric study of the observer design for discrete-time nonlinear systems. First, we obtain necessary and sufficient conditions for local exponential observers for Lyaupnov stable discrete-time nonlinear systems. We also show that the definition of local exponential observers can be considerably weakened for neutrally stable discrete-time nonlinear systems. As an application of our local observer design, we consider a class of discrete-time nonlinear systems with an input generator (exosystem) and show that for this class of nonlinear systems, under some stability assumptions, the existence of local exponential observers in the presence of inputs implies and is implied by the existence of local exponential observers in the absence of inputs.