Blom, H., and Y. Bar-Shalom. "The interacting multiple model algorithm for systems with Markovian switching coefficientsY. Bar-Shalom." IEEE Trans. on AC 33, no. 8 (1988): 780-783.

Blom, H., and Yakov Bar-Shalom. "The Interacting Multiple Model Algorithm for Systems with Markovian Switching Coefficients."  IEEE Trans. on Automatic Control 33, no. 8 (1988): 780-783.