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An equivalent transfer function representation (TFR) is introduced to study the state-feedback/observer (SFO) topologies of control systems. This approach is used to explain why an observer can radically reduce even large model errors. Then the same principle is combined with Youlaparametrization (YP) introducing a new class of regulators.doi:10.14513/actatechjaur.v7.n1.256 fatcat:suhkvhi6zfdabeg26wov22xx5a