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Reachable Region-Based Filtering of Markov Jump Piecewise-A..:

Ning, Zepeng ; Xu, Zeyuan ; Song, Jun.
IEEE Transactions on Systems, Man, and Cybernetics: Systems.  54 (2024)  6 - p. 3439-3449 , 2024
Link: https://doi.org/10.1109/tsmc.2024.3355932