Henryk Rubinstein. Smoothing properties of discrete-time zero-lag Kalman filter. Automatica, 14(4):397-401, 1978. [doi]
@article{Rubinstein78,
title = {Smoothing properties of discrete-time zero-lag Kalman filter},
author = {Henryk Rubinstein},
year = {1978},
doi = {10.1016/0005-1098(78)90038-9},
url = {http://dx.doi.org/10.1016/0005-1098(78)90038-9},
researchr = {https://researchr.org/publication/Rubinstein78},
cites = {0},
citedby = {0},
journal = {Automatica},
volume = {14},
number = {4},
pages = {397-401},
}