An ekf-based nonlinear observer with a prescribed degree of stability. Reif, K.; Sonnermann, F.; and Unbehauen, R. Automatica, 34:1119–1123, 1998.
bibtex   
@Article{SCC.Reif.Sonnermann.ea1998,
  author    = {Reif, K. and Sonnermann, F. and Unbehauen, R.},
  title     = {An ekf-based nonlinear observer with a prescribed degree of stability},
  journal   = {Automatica},
  year      = {1998},
  volume    = {34},
  pages     = {1119--1123},
  owner     = {ashwin},
  timestamp = {2010.11.16},
}
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