“…Notice that (kT) contains the unmeasured terms y 0 (kT − iT), u(kT − iT), and u(kT + h − iT), it is impossible to compute the estimatê(kT) by using ( 11)- (12). The solution here is based on the auxiliary model identification idea: 53 letŷ 0 (kT − iT),û(kT − iT), andû(kT + h − iT) be the estimates of y 0 (kT − iT), u(kT − iT), and u(kT + h − iT), respectively, and use y i (kT), f i [u(kT − T)],ŷ 0 (kT − iT), andû(kT + jh − iT) to define the estimate of (kT) aŝ (kT) ∶= [−y 2 (kT), −y 3 (kT), … , −y l (kT), −ŷ 0 (kT − T), −ŷ 0 (kT − 2T), … , −ŷ 0 (kT − nT),…”