7. Appendices

7.1 Ruffini-Horner procedure

In this appendix, we briefly review the Ruffini-Horner procedure for realizing a differential input-output relationship in the form of an observable equation of state. The advantage of this procedure is that it can be applied to a differential relationship with several inputs that cannot be grouped together in a vector of inputs, as is the case, for example, with disturbances. This is what we will consider here, since this realization technique is used to realize an observer using the direct method. The principle...