Figure 8. MHE: Estimated state of the slow first order lag element of surface flow

From

Moving Horizon vs. Unscented Kalman Filter for State Estimation in Streamflow Prediction

Divas Karimanzira, Thomas Rauschenbach

World Journal of Environmental Engineering. 2022, 7(1), 1-10 doi:10.12691/wjee-7-1-1