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Observability of the discrete state for dynamical piecewise..:

Chaib, Salim ; Boutat, Driss ; Benali, Abderraouf.
Nonlinear Analysis: Theory, Methods & Applications.  63 (2005)  3 - p. 423-438 , 2005
Link: https://doi.org/10.1016/j.na.2005.05.028