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This paper presents a method to estimate Time of arrival (TOA) of impulse radio ultra wideband (IR-UWB) in a multipath communication channel. Matrix Pencil (MP) is used to recover these delays from the channel frequency response. This algorithm has some key advantages over traditional super-resolution techniques such as multiple signal classification (MUSIC) method. Most importantly, Matrix Pencil only requires a single channel estimate and can estimate the delays easier and faster. The results show that the root mean square error (RMSE) of the proposed method is similar to that of MUSIC method at low SNR, while is better at high SNR.