Global observer design for nonlinear systems

This paper is a geometric study of the global observer design for nonlinear systems. Using the theory of foliations, we derive necessary and sufficient conditions for global exponential observers for nonlinear systems under some assumptions. Our proof for these necessary and sufficient conditions for global exponential observers if via defining two equivalence relations known as horizontal and vertical equivalence relations, and constructing two foliations known as horizontal and vertical foliations from these equivalence relations. Finally, as a corollary of our global theorem, we derive necessary and sufficient conditions for local exponential observers of critically Lyapunov stable nonlinear systems.