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A sufficient condition, independent of the perturbation parameter, for a full-order observer is presented in terms of linear matrix inequality (LMI) such that observation error is exponentially stable for all sufficiently small perturbation parameters. Then, for observer-based feedback control, a proper controller is constructed to guarantee the input-to-state stability of the system with regard to the observation error. Considering the convergence of observation error, the stability of the system can be obtained based on the input-to-state stability property. It is shown that the proposed method is simple and easy to operate. Moreover, the upper bound of the small perturbation parameter for stability of systems can be explicitly estimated with a workable computation way. 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