A correction of a common error in truncated second order nonlinear filters
Rolf Henriksen · Modeling Identification and Control A Norwegian Research Bulletin · 1980
A rederivation of the truncated second-order non-linear filter reveals that a significant error appears in previous derivations of this filter. What has previously been termed the modified truncated second-order filter will be shown to be, provided a small correction is made in the discrete-time case, the correct form of the truncated second-order filter.