Observability is Sufficient for the Design of Globally Exponentially Convergent State Observers for State-affine Nonlinear Systems

In this paper we are interested in the problem of state observation of state-affine nonlinear systems. Our main contribution is to propose a globally exponentially convergent observer that requires only the necessary assumption of observability of the system. To the best of the authors' knowledge this is the first time such a result is reported in the literature.