Section: New Results
We studied the genericity of the observability for discrete-time systems written as:
where xk belongs to a compact manifold and yk is in . Consider the following mapping:
We already prove that mapping is, generically, one to one; we recently proved that, generically, it is also an embedding, an article on this subject is in preparation. Another subject of interest is the design of observers for mechanical systems: for some systems with two degrees of freedom, we are able, under some conditions, to exhibit a change of variables which makes the system triangular and allows the construction of an observer which converges exponentially for bounded feedback.