Hi - I follow some references and now implement my own state-space model 
estimation. I have a question. In case, my equations are like this:

y(t) = Ax(t)+Bu(t)+eps(t) # observation eq
x(t) = Cx(t-1)+Du(t)+eta(t) # state eq

Using EM, after backward recursion, you will use the smoothed state estimation 
to update the A, B, C, and D which is chosen so as to maximize the expectation 
equation. But for example, if my C is always of matrix zero (model 
specification), during EM I still get the value of estimated C which turns out 
to be non-zero. How can I resolve this conflict? Or I just ignore my estimation 
result and keep it as zero? THank you.

- adschai

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