High gain observer design for a class of MIMO nonlinear systems triangular with respect to an order

In this paper, the design of a high-gain observer for a large class of MIMO nonlinear systems is considered. An order on the indices of the state variables is first introduced, which allows to characterize a large class of uniformly observable MIMO systems. This order is further used in order to design an observer whose underlying error exponentially converges toward zero. The approach is validated on simulations.

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