Spatial discretization error in Kalman filtering for discrete-time   infinite dimensional systems
  We derive a reduced-order state estimator for discrete-time infinite dimensional linear systems with finite dimensional Gaussian input and output noise. This state estimator is the optimal one-step estimate that takes values in a fixed finite dimensional subspace of the system's state space --- consider, for example, a Finite Element space. We then derive a Riccati difference equation for the error covariance and use sensitivity analysis to obtain a bound for the error of the state estimate due to the state space discretization. 
Atte Aalto
math.OC