environment where I don't have full access to the state all I need to do is to find the optimal estimator of state which will be a common filter and use data out with my best estimate of the state at every time combine them in the optimal controller assuming I have full access to state so the separation panel says I could several enzyme an estimator and a controller design them separately and then combine and that's actually optimal and that's actually very related things we've been talking about one of the representation I wanted to control want