T. Johansen & R Murray-Smith 
Multiple Model Approaches To Nonlinear Modelling And Control [EPUB ebook] 

This work presents approaches to modelling and control problems arising from conditions of ever increasing nonlinearity and complexity. It prescribes an approach that covers a wide range of methods being combined to provide multiple model solutions. Many component methods are described, as well as discussion of the strategies available for building a successful multiple model approach.