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Link to original content: https://dblp.org/rec/journals/tac/KallapurPA09.xml
Abhijit G. Kallapur Ian R. Petersen Sreenatha G. Anavatti A Discrete-Time Robust Extended Kalman Filter for Uncertain Systems With Sum Quadratic Constraints. 850-854 2009 54 IEEE Trans. Autom. Control. 4 https://doi.org/10.1109/TAC.2008.2010962 db/journals/tac/tac54.html#KallapurPA09