Gain-Constrained Kalman Filtering for Linear and Nonlinear Systems Teixeira, Bruno Otávio Soares ; Chandrasekar, Jaganath ; Palanthandalam-Madapusi, Harish J. ; Torres, Leonardo Antônio Borges ; Aguirre, Luis Antonio ; Bernstein, Dennis S. Abstract Publication: IEEE Transactions on Signal Processing Pub Date: September 2008 DOI: 10.1109/TSP.2008.926101 Bibcode: 2008ITSP...56.4113T