Observers for Lipschitz non-linear systems

In an interesting paper R. Rajamani and Y. M. Cho have proposed a systematic methodology to design observers. They have introduced a new problem: relation between distance to unobservability and convergence of 'Luenberger-like' observers. A result for the convergence of the observer has also been given. They have presented a quantity denoted by i, claimed as the distance to unobservability. We show that this number is not actually the distance from the system to the set of unobservable systems. Moreover, the result for the observer is incorrect. We provide a counterexample for the result of convergence. In this paper results for convergence are obtained, with additional strengthened hypothesis, to correct Rajamani and Cho's result. The results are used to design an observer for a, now classical, single-link flexible robot joint. The behaviour of the observer to noisy output is quite satisfactory.