... f using (6.13) with the substitutionsx xk, u uk, and z xkþ1; (2) representing f using x ðxk; ukÞ,u ;, and z xkþ1; and (3) representing g using the substitutionsx xk, u uk, and ... characterized by175Kalman Filtering and Neural Networks, Edited by Simon HaykinISBN 0-471-36998-5 # 2001 John Wiley & Sons, Inc.Kalman Filtering and Neural Networks, Edited by Simon HaykinCopyright ... Niranjan, and A.H. Gee, ‘‘Nonlinear state spaceestimation with neural networks and the EM algorithm,’’ Technical Report,Cambridge University Engineering Department, 1999.[38] T. Briegel and V....