Explicit solution to the singular discrete-time stationary linear filtering problem

A closed form solution to the stationary discrete-time linear filtering problem is obtained explicitly in terms of the system state-space matrices in the limiting singular case where the measurement noise tends to zero. Simple expressions, in closed form, are obtained for the Kalman gain matrix both for uniform and nonuniform rank systems and the explicit eigenstructure of the Kalman filter closed loop matrix is derived. The minimum error covariance matrices of the a priori and a posteriori filtered estimates are obtained using this special eigenstructure, and a remarkably different behavior of the solution in the minimum- and nonminimum-phase cases is found.