Remarks on finite dimensional nonlinear estimation
Analyse des systèmes, Astérisque, no. 75-76 (1980), pp. 47-55. 
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     number = {75-76},
     year = {1980},
     zbl = {0458.93048},
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     url = {http://archive.numdam.org/item/AST_1980__75-76__47_0/}
}
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Brockett, R. W. Remarks on finite dimensional nonlinear estimation, dans Analyse des systèmes, Astérisque, no. 75-76 (1980), pp. 47-55. http://archive.numdam.org/item/AST_1980__75-76__47_0/

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