Allen R. Stubberud

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In modern usage the word system has many meanings. So let us begin by defining what we mean when we use this word in this book, first abstractly then slightly more specifically in relation to scientific literature. Definition 1.1a: A system is an arrangement, set, or collection of things connected or related in such a manner as to form an entirety or whole.(More)
In recent works, the first author has developed a constraint estimation technique that can be applied to the kinematic tracking problem. This a posteriori technique maintains an unconstrained estimate based solely on the measurements while the constrained estimate is computed, if necessary, at each time step. This technique has been expanded to incorporate(More)