Unbiased FIR Filtering for Time-Stamped Discretely Delayed and Missing Data

Karen J. Uribe-Murcia, Yuriy S. Shmaliy, Choon Ki Ahn, Shunyi Zhao

Research output: Contribution to journalArticlepeer-review

24 Citations (Scopus)


The unbiased finite impulse response (UFIR) filtering approach is developed for discrete-time state-space models with time-stamped discretely delayed and missing data. The model with k-step-lags in observations is transformed to have no latency and expanded on a finite horizon of N most recent data points. It is shown that the optimal horizon for the UFIR filter is practically k-invariant, unlike the tuning factor of the H&inf; filter. Higher robustness of the UFIR filter against the Kalman and H&inf; filters is justified theoretically in uncertain environments with discretely delayed and missing data. Experimental verification is provided based on GPS-based tracking of a moving vehicle to demonstrate a good agreement with the theory.

Original languageEnglish
Article number8815824
Pages (from-to)2155-2162
Number of pages8
JournalIEEE Transactions on Automatic Control
Issue number5
Publication statusPublished - 2020 May

Bibliographical note

Funding Information:
Manuscript received November 23, 2018; revised November 27, 2018 and March 4, 2019; accepted August 19, 2019. Date of publication August 27, 2019; date of current version April 23, 2020. The work of K. J. Uribe-Murcia and Y. S. Shmaliy was supported by the Mexican CONACyT-SEP Project A1-S-10287, convocatoria 2017–2018. The work of C. K. Ahn was supported by the National Research Foundation of Korea through the Ministry of Science, ICT and Future Planning under Grant NRF-2017R1A1A1A05001325. Recommended by Associate Editor S. S. Saab. (Corresponding author: Yuriy S. Shmaliy.) K. J. Uribe-Murcia and Y. S. Shmaliy are with the Department of Electronics Engineering, Universidad de Guanajuato, Salamanca 36885, Mexico (e-mail:,karen.uribe15@gmail.com; shmaliy@ugto.mx).

Publisher Copyright:
© 1963-2012 IEEE.


  • Delayed data
  • H&inf; filter
  • Kalman filter (KF)
  • robustness
  • unbiased finite impulse response (FIR) filter

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering


Dive into the research topics of 'Unbiased FIR Filtering for Time-Stamped Discretely Delayed and Missing Data'. Together they form a unique fingerprint.

Cite this