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The authors consider a decentralized distributed estimator for a formation of agents described with a discrete-time LTI system. Due to the decentralized structure, the estimator may contain poles invariant with respect to local agents' observer gains. They prove that under mild observability assumptions there exists a communication topology and transmitter-receiver gains which allow assigning all the poles of the distributed estimator. They also propose an algorithm for the design of a minimal communication topology which guarantees closed-loop pole assignability.
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