A state observer is proposed for nonlinear continuous time systems which extends the well known Luenberger observer. In particular, on the basis of simple assumptions on the regularity of the system equations (observability and the global Holder condition for suitable functions), which are generally satisfied for physically meaningful dynamic systems, the global asymptotic convergence of the estimated state towards the true state is shown. Finally, some examples of applications are also reported showing the effectiveness of the proposed observer.
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