Abstract
This paper presents a systematic routine for jointly reconstruct the state variables and the unknown inputs for a large class of nonlinear MIMO systems. After an appropriate change of state coordinates, a set of cascade high gain observers are designed in such a way that each of them provides an estimation of only one component of the unknown input vector, except the last one which gives a final adjustment of the whole state variables. Such design achieves a boundary of the state estimation error which can be arbitrarily small by properly specifying the sole synthesis parameter. An illustrative example verifies the effectiveness of the proposed scheme.
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