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5	Which course to take? Optimal control? Nonlinear control?
0	Extended Kalman Filter formulation

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3	Relationship and interpretation of "discrete" and "continuous" covariance matrices in Kalman Filtering
0	Numeric quadrature vs summation of running costs in model predictive control

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5 control-engineering × 4	5 nonlinear-control × 2
5 control-theory × 3	0 kalman-filters × 2
5 optimal-control × 3	0 statistics

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2	Converting nonlinear system into equivalent nonlinear of the Byrnes-Isidori normal form

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