The following Matlab codes can be used in the design of batch and iterative FIR state estimators.

C.2 Iterative UFIR Filtering Algorithm

C.3 Batch OFIR Filter

C.4 Iterative OFIR Filtering Algorithm

C.5 Batch OUFIR Filter

C.6 Iterative OUFIR Filtering Algorithm

This code has two parts.

C.7 Batch ‐Lag UFIR Smoother

C.9 Batch ‐Lag FFBM OFIR Smoother

The code of this algorithm has two parts.

C.10 Batch ‐Lag BFFM OFIR Smoother

The code of this algorithm has two parts.

C.11 Batch ‐Lag BFBM OFIR Smoother