Besada Portas, EvaLópez Orozco, José AntonioCruz García, Jesús Manuel de laBesada, Juan A.2023-06-202023-06-202009-070018-928610.1109/TAC.2009.2020667https://hdl.handle.net/20.500.14352/43856© 2009 IEEE. This work was supported by the Spanish Grants TAP/97-0607-C03, DPI2006-15661-C02-01, and CAM-S-0505/DPI/0391 and by the Spanish post-doctoral Grant EX-2007-0915. Recommended by Associate Editor Z. Wang.The fusion center of a complex control system estimates its state with the information provided by different sensors. Physically distributed sensors, communication networks, pre-processing algorithms, multitasking, etc, introduce non-systematic delays in the arrival of information to the fusion center, making the information available Out-Of-Sequence (OOS). For real-time control systems, the state has to be efficiently estimated with all the information received so far. So, several solutions of the OOS problem for dynamic Multiple-Input Multiple-Output (MIMO) discrete control systems traditionally solved by the Kalman Filter (KF) have been proposed recently. This paper presents two new streamlined algorithms for the linear and non-linear case. IFAsyn, the linear algorithm, is equivalent to other optimal solutions but more general, efficient and easy to implement. EIFAsyn, the nonlinear one, is a new solution of the OOS problem in the Extended KF (EKF) framework.engjournal articlehttp://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=5152909http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=5152909open access004TrackingUpdateInformática (Informática)1203.17 Informática