A Comparison of Discretization Methods for Parameter Estimation of Nonlinear Mechanical Systems Using Extended Kalman Filter: Symplectic versus Classical Approaches

Daniel Beckmann, Matthias Dagen, Tobias Ortmaier. A Comparison of Discretization Methods for Parameter Estimation of Nonlinear Mechanical Systems Using Extended Kalman Filter: Symplectic versus Classical Approaches. In Kurosh Madani, Dimitri Peaucelle, Oleg Gusikhin, editors, Informatics in Control, Automation and Robotics - 13th International Conference, ICINCO 2016 Lisbon, Portugal, 29-31 July, 2016, Revised Selected Papers. Volume 430 of Lecture Notes in Electrical Engineering, pages 367-384, Springer, 2016. [doi]