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Madsen, K., Nielsen, H.B. and Tingleff, O. (2004) Methods for Non-Linear Least Squares Problems. 2nd Edition, Informatics and Mathematical Modelling (IMM), Technical University of Denmark (DTU), Lyngby.
http://www2.imm.dtu.dk/pubdb/views/edoc_download.php/3215/pdf/imm3215.pdf

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