References/Notes/Attributions:
Source
Harvey, A.C. (1989). Forecasting, Structural Time Series Models and the Kalman Filter. Cambridge University Press, pp. 519–523.
Durbin, J. and Koopman, S. J. (2001). Time Series Analysis by State Space Methods. Oxford University Press. http://www.ssfpack.com/dkbook/
References
Harvey, A. C. and Durbin, J. (1986). The effects of seat belt legislation on British road casualties: A case study in structural time series modelling. Journal of the Royal Statistical Society series A, 149, 187–227. doi: 10.2307/2981553.