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MR2517161 Expansion
Teixeira, Bruno Otávio Soares; Chandrasekar, Jaganath; Palanthandalam-Madapusi, Harish J.; Tôrres, Leonardo Antônio Borges; Aguirre, Luis Antonio; Bernstein, Dennis S. Gain-constrained Kalman filtering for linear and nonlinear systems. IEEE Trans. Signal Process. 56 (2008), no. 9, 4113–4123.
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