Huichai ZhangMichael V. BasinMikhail SkliarItô-Volterra Optimal State Estimation With Continuous, Multirate, Randomly Sampled, and Delayed Measurements.401-416200752IEEE Trans. Autom. Control.3https://doi.org/10.1109/TAC.2007.892383db/journals/tac/tac52.html#ZhangBS07