@article {57,
	title = {Convergence of Nonlinear Observers on $\mathbb{R}^n$ with a {R}iemannian Metric {(Part I)}},
	journal = {IEEE Transactions on Automatic Control},
	volume = {57},
	number = {7},
	year = {2012},
	month = {July},
	pages = {1709{\textendash}1722},
	keywords = {observers},
	doi = {http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6104368},
	url = {http://arxiv.org/abs/1412.6730},
	author = {R. G. Sanfelice and L. Praly}
}
