Observer design for locally observable analytic systems: Convergence and separation property

This paper presents a novel nonlinear observer, which exhibits a local separation property. In fact, if there exists a stabilizing static state feedback, the designed observer permits to achieve local practical stability of the closed-loop system, if the real state has been substituted with the current estimated one. The observer requires only that the nonlinear system must be locally observable for the considered real analytic input function.

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