The method 7, further comprising parameterizing {HEAD ~ the LESO} to be {TAIL ~ a function} of a single tuning parameter ωo, wherein ωo is an observer bandwidth, and wherein M observer poles are placed at −ωo for an Mth order plant, where M is an integer 
The method 7 , further comprising parameterizing { HEAD ~ the LESO } to be { TAIL ~ a function } of a single tuning parameter ωo , wherein ωo is an observer bandwidth , and wherein M observer poles are placed at −ωo for an Mth order plant , where M is an integer
OTH OTH OTH OTH OTH OTH OTH HEAD HEAD HEAD HEAD HEAD HEAD REL REL TAIL TAIL TAIL TAIL TAIL TAIL OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH