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Cited article:

Iterative Maximum Likelihood FIR Filter for State-Space Models with Time-Stamped Delayed and Missing Data

Yameng Zhu, Shunyi Zhao, Xiaoli Luan and Fei Liu
Circuits, Systems, and Signal Processing 41 (9) 5065 (2022)
https://doi.org/10.1007/s00034-022-02021-7