I need to confirm Equations 1.8, 1.10, 1.12, 1.15 and 1.17 are correct (in the pdf), can anyone suggest some suitable references (either books or web links) that describe the manipulations I've used? Some info about the material in the pdf below:(adsbygoogle = window.adsbygoogle || []).push({});

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In the pdf document, equation 1.1 represents the complete form of x(k)=f(x(k-1)) + w(k-1) where it uses fx to represent f(x(k-1)).

Equations 1.5 and 1.7, or their inverse, are used to find most of the derivatives in the Jacobian matrix represented in Equation 1.3.

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# Manipulating differentials - references?

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