“…Many applications of this MM estimator can be found in the literature under various names, such as the "multiple model adaptive estimator," "parallel processing algorithm," "partitioned filter," "self-tuning estimator," "filter bank," and "Gaussian sum adaptive filter" [4] (see [6] for the long list of references therein). These names suggest the structure, features, and capability of this "first-generation" MM estimator, to be referred to Manuscript received November 16, 1998; revised July 3, 1999; released for publication October 6, 1999. …”