@inbook {MR2884601,
	title = {Intrinsic methods in filter stability},
	booktitle = {The Oxford handbook of nonlinear filtering},
	year = {2011},
	pages = {319{\textendash}351},
	publisher = {Oxford Univ. Press, Oxford},
	organization = {Oxford Univ. Press, Oxford},
	author = {Chigansky, P. and Liptser, R. and Van Handel, R.}
}
