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本文针对一类广泛存在的非线性系统，给出了状态观测器的形式，证明了观测器误差渐进收敛的条件，并利用线性系统的特征结构配置理论，给出了简便而切实可行的观测器的设计方法．
In this paper, we present the form of state observer for a class of widely existing nonlinear systems, and prove the condition of asymptotic convergence of observer error. By using the theory of feature structure configuration of linear systems, we give a simple and practical observer Design method.