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In this paper, we study state space models represented by interval parameters and noise. We introduce an interval version of the Expectation Maximization (EM) algorithm for the identification of the interval parameters of the system. We also introduce a suboptimal interval Kalman filter for the identification and estimation of the state vectors. The work requires the introduction of the concept of interval random variables which we also include in this work together with a study of their interval statistical properties such as expectation, conditional expectation and variance. Although the interval Kalman filter introduced here is suboptimal, it successfully recovers the state vectors to a high precision in the simulation examples we have run.

The interval versions of the Kalman filter and the EM algorithm