An observer for nonlinear noisy systems

In this work we present a high gain observer for a certain class of MIMO no nlinear continuous time systems. We assume that the output measurement is a noisy discrete time process. We establish stability results for the observ er, which assure exponential convergence in absence of noise and obtain bou nds of the estimation error variance in the noisy environment. Finally we e xhibit an application to an overhead crane.