References/Notes/Attributions:
Source
Durbin, J. and Koopman, S. J. (2001). Time Series Analysis by State Space Methods. Oxford University Press. http://www.ssfpack.com/DKbook.html
References
Balke, N. S. (1993). Detecting level shifts in time series. Journal of Business and Economic Statistics, 11, 81–92. doi: 10.2307/1391308.
Cobb, G. W. (1978). The problem of the Nile: conditional solution to a change-point problem. Biometrika 65, 243–51. doi: 10.2307/2335202.