Ellipsoidal state estimation based on sum of squares for non-linear systems with unknown but bounded noise

Massioni P., Salnikov N.N., Scorletti G. Ellipsoidal state estimation based on sum of squares for non-linear systems with unknown but bounded noise // IET Control Theory & Applications, 2019, Volume 13, Issue 12, P. 1955 –1961.
DOI: 10.1049/iet-cta.2018.5072