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