@PhDthesis{Ohlsson:08,
    author = {Ohlsson, Henrik},
    title = {Regression on Manifolds with Implications for System Identification},
    school = {Department of {E}lectrical {E}ngineering, {L}ink{\"{o}}ping {U}niversity},
    year = {2008},
    month = Nov,
URL = "http://www.control.isy.liu.se/publications/doc?id=2090",
    address = {SE-581 83 Linköping, Sweden},
    type = {Licentiate Thesis no. 1382},
}