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this book can help you to get a better performance in the gps development

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  <td><font face="Times New Roman, Times, Serif" size="3">3.2 Discrete Time Systems</font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">3.2.1 Ordinary Difference Equations</font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">3.2.2 Transfer Functions</font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">3.2.3 Discrete-Time State Space</font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">3.3 State-Space Analysis</font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">3.3.1 Similarity Transformation</font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">3.3.2 Transformation from State Space to Transfer Function</font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">3.3.3 State-Transition Matrix Properties and Calculation</font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">3.3.4 Discrete-Time Models of Continuous-time Systems</font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">3.3.5 State Estimation</font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">3.3.6 Observability</font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">3.4 Systems with Random Inputs</font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">3.4.1 Linear Stochastic Systems and State Augmentation</font></td>
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  <td><font face="Times New Roman, Times, Serif" size="3">3.4.2 Gauss-Markov Processes</font></td>
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