Mode-Observability Conditions for Linear and Nonlinear Systems

This paper addresses the problem of modeobservability, namely the problem of determining whether or not system outputs obtained with different modes can be distinguished one from another. We introduce a notion of modeobservability for nonlinear systems and establish a number of related properties. For mode-observable systems we also provide tools for analysing their mode-observability degree. Examples are discussed to substantiate the analysis.