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Using this observability function, a corresponding unobservable cone is defined, and an uncertain system is said to be robustly observable if this cone contains only the origin. The paper presents an algorithm for finding the robust observability function and corresponding unobservable cone. This algorithm involves solving a parameterized Riccati differential equation.<\/jats:p>","DOI":"10.1137\/s0363012900368077","type":"journal-article","created":{"date-parts":[[2003,6,11]],"date-time":"2003-06-11T11:12:06Z","timestamp":1055329926000},"page":"345-361","source":"Crossref","is-referenced-by-count":21,"title":["Notions of Observability for Uncertain Linear Systems with Structured Uncertainty"],"prefix":"10.1137","volume":"41","author":[{"given":"Ian R.","family":"Petersen","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"351","published-online":{"date-parts":[[2006,7,26]]},"reference":[{"key":"R1","doi-asserted-by":"crossref","unstructured":"D. J. Clements and B. D. O. 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