Adopting this perspective, a control design problem can be split into two phases. The first phase is design of the control law assuming that the state vector is available, which may be based on optimization or other design techniques, and typically results in a control law without dynamics. The second phase is the design of a system that produces an approximation to the state vector. This system, called observer in a deterministic setting, has as its inputs the inputs and available outputs of the system whose state is to be approximated and has a state vector that is linearly related to the desired approximation [56]. Besides the simplicity of its design, the biggest advantage of using observers is that all of the states in the system model can be estimated including states that are hard to obtain by measurements [25]. In addition to their practical utility, observers offer an associated theory, which is intimately related to the fundamental linear system concepts of controllability, observability, dynamic response, and stability, and provides a simple setting in which all of these concepts interact.
GameSpot gave it a 9 out of 10 and selected it as an Editor's Choice, citing that its "visual design instantly stands out, but it turns out to be just one of many inspired aspects of this impressive action adventure game."[78] IGN gave the game a 9.1 out of 10, as being "beautiful, charismatic, engaging and one of the most original games you'll play anytime soon."[14] Electronic Gaming Monthly's three reviewers gave it a 9, 9.5, and 9 out of ten, one saying: "I'll be surprised if you can find a better game on any system this fall."[86] Newtype USA named Ōkami its Game of the Month for October 2006, heralded the pacing as "nearly flawless" and proclaimed "Ōkami is that rarest of beasts: a game without any obvious flaws. Clover's creativity and attention to detail are on full display here. Shame on any gamer who passes up this divine adventure."[87] Eurogamer.net scored the game 10/10 saying "Right from the start it conjures an atmosphere of being something special, but to keep that level of quality up consistently over 60 hours ensures that this will be a game that will be talked about for years to come".[88] In 2007, Ōkami was named eighteenth best PlayStation 2 game of all time in IGN's feature reflecting on the PlayStation 2's long lifespan.[89] Famitsu gave the game a near perfect score of 39 out of 40, the 15th game to date to receive this score from the publication.
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