Improving Long-Term Online Prediction with Decoupled Extended Kalman Filters. Pérez-Ortiz, J., Schmidhuber, J., Gers, F., & Eck, D. In Artificial Neural Networks – ICANN 2002, pages 1055–1060, Berlin, 2002. Springer.
bibtex   
@InProceedings{Perez:02icann1,
  author    = {J.  P\'{e}rez-Ortiz  and J. Schmidhuber and F. Gers and D. Eck},
    title        = {Improving Long-Term Online 
    Prediction with Decoupled Extended Kalman Filters},
      booktitle    = {{Artificial Neural Networks -- ICANN 2002}},
        editor    = {J. Dorronsoro},
	  pages        = {1055--1060},
	    publisher    = {Springer},
	      address    = {Berlin},
	        year        = 2002,
		}

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