  Homogeneous observer for linear multi-input multi-output (MIMO) system is
designed. A prefilter of the output is utilized in order to improve robustness
of the observer with respect to measurement noises. The use of such a prefilter
also simplifies tuning, since the observer gains in this case are parameterized
by a linear matrix inequality (LMI) being always feasible for observable
system. In particular case, the observer is shown to be applicable in the
presence of the state and the output bounded perturbations. Theoretical results
are supported by numerical simulations.
