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Simha, A. (author), Kaparin, Vadim (author), Mullari, Tanel (author), Kotta, Ulle (author)—This technical note addresses the problem of transforming a single-input–single-output discrete-time system into the extended observer form, which comprise a linear time-invariant observable component, and a nonlinear injection term, which depends on the input, output, and their forward shifts up to a finite order. Intrinsic necessary and...journal article 2023