# Duality for Nonlinear Filtering I: Observability

> Research article (IEEE Transactions on Automatic Control, 2023) · cited 12× · AI/ML

**Wikidata**: [openalex:W4377711683](https://www.wikidata.org/wiki/openalex:W4377711683)  
**Source**: https://4ort.xyz/entity/duality-for-nonlinear-filtering-i-observability