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