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Manifold-constrained regressors in system identification
http://ieeexplore.ieee.org/Xplore/login.jsp?url=http://ieeexplore.ieee.org/iel5/4721212/4738560/04739302.pdf%3Farnumber%3D4739302&authDecision=-203
Ohlsson, H. Roll, J. Ljung, L.
Dept. of Electr...