@article{WaB2:02,
  author =	 {F. Wang and V. Balakrishnan},
  title =	 {Robust Kalman Filters for Linear Time-Varying Systems
with Stochastic Parametric Uncertainties},
  pages = {803-813},
  volume = 50,
  number = 4,
  journal =	{IEEE Trans.\ Signal Processing},
  year =	 2002
}