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A. Weinmann:
"Beobachter minimaler Norm";
Talk: 13. Steirisches Seminar über Regelungstechnik und Prozessautomatisierung, Retzhof; 2003-09-15 - 2003-09-18; in: "Tagungsband", (2003), ISBN: 3-901439-05-6; 1 - 20.

To prevent numerical problems in fixed-point microcontrollers,
the elements of controller and observer gain matrices should be
as small as possible in norm sense.
This is achieved by including the Frobenius norm of all the matrices when
implementing the function observer in state space.
This paper addresses the problem of obtaining the minimum sum of all the
norms involved when implementing a closed-loop
system of predetermined dynamical properties
given by the matrices of a state controller and an observer.
In specific cases better dynamics of the closed-loop
control is achieved even by using smaller matrix norms.

http://aleph.ub.tuwien.ac.at/F?base=tuw01&func=find-c&ccl_term=AC04967567