Abstract
This paper is concerned with the design of an observer for a large class of non-uniformly observable MIMO systems, whose structure is not the classical triangular one. The main features allowing the construction of the observer are the introduction of characteristic indices and the definition of an extended triangular structure with respect to the state. The gain of the proposed observer is given by an ODE and the convergence is ensured providing a well defined persistent excitation condition. Furthermore, the effect of uncertainties in the dynamics of the system are analyzed.
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