Geodesic
Methods for Constructing Observers for Linear Dynamical Systems under Uncertainty
Trudy Matematicheskogo Instituta imeni V.A. Steklova, Optimal control, Tome 262 (2008), pp. 87-102

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We consider various methods for constructing asymptotic observers for linear stationary MIMO systems under an unknown external perturbation. Square systems (in which the number of measured outputs coincides with that of unknown inputs) are considered separately. For such systems we propose a method for constructing observers that yields either an asymptotic observer (for systems of maximal relative order) or an arbitrarily accurate observer. Hyperoutput systems (in which the number of measured outputs exceeds that of unknown inputs) are considered separately as well. For such systems we propose a method for synthesizing asymptotic observers of the phase vector. 
@article{TM_2008_262_a7,
     author = {A. V. Il'in and S. K. Korovin and V. V. Fomichev},
     title = {Methods for {Constructing} {Observers} for {Linear} {Dynamical} {Systems} under {Uncertainty}},
     journal = {Trudy Matematicheskogo Instituta imeni V.A. Steklova},
     pages = {87--102},
     publisher = {mathdoc},
     volume = {262},
     year = {2008},
     language = {ru},
     url = {http://geodesic.mathdoc.fr/item/TM_2008_262_a7/}
}
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A. V. Il'in; S. K. Korovin; V. V. Fomichev. Methods for Constructing Observers for Linear Dynamical Systems under Uncertainty. Trudy Matematicheskogo Instituta imeni V.A. Steklova, Optimal control, Tome 262 (2008), pp. 87-102. http://geodesic.mathdoc.fr/item/TM_2008_262_a7/