A New Identification Framework For Off-Line Computation of   Moving-Horizon Observers
  In this paper, a new nonlinear identification framework is proposed to address the issue of off-line computation of moving-horizon observer estimate. The proposed structure merges the advantages of nonlinear approximators with the efficient computation of constrained quadratic programming problems. A bound on the estimation error is proposed and the efficiency of the resulting scheme is illustrated using two state estimation examples. 
Mazen Alamir
cs.SY