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Polynomial robust observer implementation based passive syn..:

Kammogne, Alain Soup Tewa ; Kountchou, Michaux Noubé ; Kengne, Romanic...
Frontiers of Information Technology & Electronic Engineering.  21 (2020)  9 - p. 1369-1386 , 2020
Link: https://doi.org/10.1631/fitee.1900430