Abstract: A new impulsive hybrid observer is firstly designed for nonlinear impulsive hybrid systems based on a Finite State Machine (FSM). Then, a class of impulsive output feedback controller based on the hybrid observer is designed for above systems by applying FSM theory and backstepping method, and a multi-Lyapunov function is constructed. The sufficient condition for asymptotic stability of the whole closed-loop systems is given by applying asymptotic stability theory of hybrid system and multi-Lyapunov function method. Finally, a simulation example is given to illustrate the effectiveness of the controller proposed in the paper.