The method 7, further comprising parameterizing the LESO to be 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 {HEAD ~ M} is {TAIL ~ an integer} 
The method 7 , further comprising parameterizing the LESO to be 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 { HEAD ~ M } is { TAIL ~ an integer }
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 OTH OTH OTH OTH OTH OTH OTH OTH OTH HEAD HEAD HEAD HEAD HEAD REL TAIL TAIL TAIL TAIL TAIL TAIL