Before revision: We can design an observer of the form and state feedback Define the error e: Then Now we can write the closed-loop dynamics as Since this is triangular , the eigenvalues are just those of A − BK together with those of A − LC.Proof can be found in this math.stackexchange .
After revision: We can design an observer of the form and state feedback Define the error e: Then Now we can write the closed-loop dynamics as Since this is a triangular matrix , the eigenvalues are just those of A − BK together with those of A − LC.Proof can be found in this math.stackexchange .