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algorithm analysis angle application approach approximation assumed branch and bound calculated characteristic function coefficients components considered constraints correlation covariance defined determine developed Digital Filters discrete distribution dynamics EMSS equation error rate evaluation example expression tree failure Fault Tree Analysis finite memory filter FLIGHT PATH Fourier transform frequency given graph identification IEEE Trans IFRA implementation input integral Kalman filter Karnaugh map kernel transform linear loop matrix measurement method minimize missile mode multi-rate multivariate noise nonlinear nutation observations obtained operations optimal output paper parameter estimates performance plant plot prediction problem procedure Q-Q plot quantization radar random variables recursive reliability residue residue number system resolution cell sample shown in Figure signal spacecraft stability statistic structure subsystems Table target techniques theorem torque transfer function unit University University of Pittsburgh values variance vector velocity Wiener kernel zero