High-gain-observer tracking performance in the presence of measurement noise

High-gain observers are commonly utilized to estimate the states used in constructing the output feedback control, when such states are derivatives of the output. In the presence of measurement noise, the estimation error can be noticeably compromised if the observer gain is chosen too large. However, the effect of measurement noise on the tracking error is less significant. This phenomenon is demonstrated with a nonlinear motivating example, and further explored in the context of linear systems from a transfer function perspective.