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Based on the assumed observation model in (25), the log-likelihood function L k + 1 = log p y c, k + 1 | s k + 1, S k at (k + 1 th time instant formed at the FC is given by L k + 1 = - N 2 log ( 2 π σ 2 ) - ∑ j = 1 N 1 2 σ 2 y j, k + 1 - c r j, t k - ζ j, k + 1 - b 2. Let I(S k ) ∈ R 4k × 4k be the information matrix derived from the joint distribution p k.
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Since I tried Ludwig back in 2017, I have been constantly using it in both editing and translation. Ever since, I suggest it to my translators at ProSciEditing.

Justyna Jupowicz-Kozak
CEO of Professional Science Editing for Scientists @ prosciediting.com