T. Hilaire:
"On the Transfer Function Error of State-Space Filters in Fixed-Point Context";
IEEE Transactions on Circuits and Systems II: Express Briefs, 56 (2009), 12; 936 - 940.
http://dx.doi.org/10.1109/TCSII.2009.2034193Electronic version of the publication:
http://publik.tuwien.ac.at/files/PubDat_188296.pdf