Direct approach o Data based cost function. A valid alternative to the probabilistic detour leads to comparable results (e.g.the RLS procedure) without having to rely on all the probabilistic machinery (stationarity, ergodicity,etc.) 2020-01-18 62020-01-18 6 Direct approach  Data based cost function.  A valid alternative to the probabilistic detour  leads to comparable results (e.g. the RLS procedure)  without having to rely on all the probabilistic machinery (stationarity, ergodicity, etc.)