@article {wong97systems,
    AUTHOR = {Wong, Wing Shing and Brockett, Roger W.},
     TITLE = {Systems with finite communication bandwidth constraints. {I}.
              {S}tate estimation problems},
   JOURNAL = {IEEE Trans. Automat. Control},
  FJOURNAL = {Institute of Electrical and Electronics Engineers.
              Transactions on Automatic Control},
    VOLUME = {42},
      YEAR = {1997},
    NUMBER = {9},
     PAGES = {1294--1299},
      ISSN = {0018-9286},
     CODEN = {IETAA9}
}