Extended observer form for discrete-time nonlinear control systems

The paper addresses the problem of transforming the discrete-time single-input single-output nonlinear state equations into the extended observer form, which, besides the input and output, also depends on a finite number of their past values. The simple necessary and sufficient conditions for the existence of the extended coordinate change and the output transformation, allowing to solve the problem, are formulated in terms of differential one-forms, associated with the input-output equation, corresponding to the state equations.