“…Theorem 2. Given a RMES PMJLS (6) with u(t) = 0, a positive upper bounding observer (19) exists such that the augmented system (21) is positive and MES for any A 0i ∈ [A 0i , A 0i ] (RMES) if and only if there exist strictly positive vectors i ∈ R n , (n + p)-dimensional diagonal matrices Q i ≻ 0, matrices U i ∈ R (n+p)×n , and V i ∈ R (n+p)×p , i = 1, 2, … , s, satisfying…”