“…For brevity, this note will focus on the contributions of Qian (1999) and Torii and Hagan (2002) which are recent and clearly written time-invariant analyses of the BPM method, which has been extensively analyzed, both theoretically and experimentally (see, for example, Hagiwara and Sato (1995), Kamarthi and Pittner (1999), Phansalkar and Sastry (1994), Yu and Chen (1997), and Yu, Chen, and Cheng (1995) and references therein).…”