Constrained state estimation for nonlinear discrete-time systems: Stability and moving horizon approximations
Rao, Christopher V.
Rawlings, James B.
Mayne, David Q.
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
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Rao, C.V., Rawlings, J.B., & Mayne, D.Q. (2003). Constrained State Estimation For Nonlinear Discrete Time Systems: Stability And Moving Horizon Approximations. Ieee Transactions On Automatic Control, 48(2), 246-258.