## Observer Design for Stochastic Nonlinear Systems via Contraction-Based Incremental Stability

- Ashwin P. Dani, Soon-Jo Chung, Seth Hutchinson
- IEEE Transactions on Automatic Control
- 2015

- Published 1975 in 1975 IEEE Conference on Decision and Control…

Generalized Chandrasekhar algorithms are obtained that are applicable to time-varying models as well as time-invariant ones. Backward and forward-time differentiations are introduced that readily provide the generalized Chandrasekhar algorithms as well as several interesting interpretations of these results.

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