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Normalised closed-loop bandwidth (−3 dB) of the steady-state Kelvin observer as a function of the normalised power spectral densities 
and 
for different orders of the low-pass filter, n. a) Two-dimensional map for n = 4. As the observation noise density, 
, increases for a fixed transition noise density, 
, the closed-loop bandwidth is reduced. b) Closed-loop bandwidth normalised to the bandwidth of the corresponding n-th order low-pass filter.
