@article{COCV_2018__24_4_1815_0,
     author = {Moireau, P.},
     title = {A discrete-time optimal filtering approach for non-linear systems as a stable discretization of the {Mortensen} observer},
     journal = {ESAIM: Control, Optimisation and Calculus of Variations},
     pages = {1815--1847},
     publisher = {EDP-Sciences},
     volume = {24},
     number = {4},
     year = {2018},
     doi = {10.1051/cocv/2017077},
     zbl = {1414.93192},
     mrnumber = {3922444},
     language = {en},
     url = {http://archive.numdam.org/articles/10.1051/cocv/2017077/}
}