Constant-gain observer for a class of multi-output nonlinear systems (Q1614111)

In the first part, the authors construct an asymptotic observer for single-output nonlinear systems of the form \[ \begin{cases} \dot x_1=f_1(u,x_1,x_2)\\ \dot x_2=f_2(u,x_1,x_2,x_3)\\ \dots\dots\dots\dots\dots \dots\\ \dot x_n=f_n(u,x_1,\dots,x_n)\\ y=x_1\end{cases} \] where \(u\) takes values in a compact set \(U\subset\mathbb{R}^m\). The functions \(f_i\) are differentiable, globally Lipschitz continuous and satisfy other restrictive assumptions. In the second part, the result is extended to the multi-output case.