Multi-Output Dependent Observability Normal Form

International audienceThis article gives the sufficient condition which guarantees the existence of a reference frame in which a multi-output nonlinear system is linearizable with a linear part depending on its outputs. Our method is based on the design of a reference frame associated with nonlinear observable systems. Moreover, we give the generalization of the result obtained in [5] and [19]. And some examples are given in order to highlight our thinking