1. Bertsekas DP (1995) Dynamic programming and optimal control, vol 1. Athena Scientific, Belmont
2. Kuhl P, Diehl M, Kraus T, Schloder JP, Bock HG (2011) A real-time algorithm for moving horizon state and parameter estimation. Comput Chem Eng 35:71–83
3. Kwakernaak H, Sivan R (1972) Linear optimal control systems. Wiley, New York. ISBN:0-471-51110-2
4. Lopez-Negrete R, Biegler LT (2012) A moving horizon estimator for processes with multi-rate measurements: a nonlinear programming sensitivity approach. J Process Control 22:677–688
5. Patwardhan SC, Narasimhan S, Jagadeesan P, Gopaluni B, Shah SL (2012) Nonlinear Bayesian state estimation: a review of recent developments. Control Eng Pract 20:933–953