{TAIL ~ The method} 7, further comprising parameterizing the LESO to be a function of {HEAD ~ 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 
{ TAIL ~ The method } 7 , further comprising parameterizing the LESO to be a function of { HEAD ~ 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
TAIL TAIL TAIL TAIL TAIL TAIL OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH HEAD HEAD HEAD HEAD HEAD HEAD HEAD HEAD 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