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This paper newly designs the recursive least-squares (RLS) fixed-lag smoother and filter using the covariance information in linear continuous-time stochastic systems. It is assumed that the signal is observed with additive white observation noise and the signal is uncorrelated with the observation noise. The estimators require the covariance information of the signal and the variance of the observation noise. The auto-covariance function of the signal is expressed in the semi-degenerate kernel form.

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