1. Ljung, L.: ‘System Identification—Theory for the User’, (Prentice-Hall, Upper Saddle River, NJ 1999),2nd edn.
2. Ljung, L., and Söderström, T.: ‘Theory and Practice of Recursive Identification’, (MIT Press, Cambridge, MA 1983)
3. Asymptotic behavior of the extended Kalman filter as a parameter estimator for linear systems