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@@ -44,10 +44,10 @@ A preliminary course schedule is as follows. Extra discussion seminars can be ad
 | Discussion&nbsp;2 | November 29<br> 10:15 - 12:00 | Exercise discussion | [[30](https://doi.org/10.1016/j.automatica.2006.01.026)]||
 | Lecture 3 | December 6<br> 08:15 - 10:00 | Design methods, EKF and UKF, square root algorithms |[[3](https://doi.org/10.1115/1.3153059), [4](https://doi.org/10.1080/00207178708933870)], [[17;p. 55-82](http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-11032)], [[22](https://www.fs.isy.liu.se/Edu/Courses/ObserversPhD/CourseMaterial/ArrayAlgorithm_Kailath.pdf), [9](https://doi.org/10.1109/TAC.1978.1101825), [14](https://doi.org/10.1109/JPROC.2003.823141), [23](https://doi.org/10.1109/TSP.2011.2172431)] | [slides](Lectures/slides_3.pdf)|
 | Lecture 4 | January 31<br>15:15 - 17:00| Design methods, Particle filters | [[12](http://www3.nd.edu/~lemmon/courses/ee67033/pubs/GordonSalmondSmith93.pdf), [13](https://doi.org/10.1109/78.978374)] + [[31](https://doi.org/10.1109/MAES.2010.5546308), [32](https://doi.org/10.1109/TSP.2011.2172431), [33](https://doi.org/10.1007/s001900050236)]|[slides](Lectures/slides_4.pdf)|
-| Discussion&nbsp;3 | TBD | Exercise discussion| [code skeletons](Exercise/EKF_UKF)||
-| Discussion&nbsp;4 | TBD | Exercise discussion, cont.| ||
-| Lecture 5 | TBD | Linearization, Lyapunov, High gain, Sliding mode, Moving Horizon Estimation | [[11](https://www.fs.isy.liu.se/Edu/Courses/ObserversPhD/CourseMaterial/khalil_highgain_chapter.pdf), [19](https://www.fs.isy.liu.se/Edu/Courses/ObserversPhD/CourseMaterial/slidingmode.pdf), [10](https://www.fs.isy.liu.se/Edu/Courses/ObserversPhD/CourseMaterial/slotine1987.pdf), [24](https://doi.org/10.1109/TAC.2002.808470)] |[slides](Lectures/slides_5.pdf)|
-| Discussion&nbsp;4 | TBD | Exercise discussion |||
+| Discussion&nbsp;3 | February 8<br>15:15 - 17:00 | Exercise discussion| [code skeletons](Exercise/EKF_UKF)||
+| Discussion&nbsp;4 | February 15<br>15:15-17:00 | Exercise discussion, cont.| ||
+| Lecture 5 | February 22<br>13:15 - 15:00 | Linearization, Lyapunov, High gain, Sliding mode, Moving Horizon Estimation | [[11](https://www.fs.isy.liu.se/Edu/Courses/ObserversPhD/CourseMaterial/khalil_highgain_chapter.pdf), [19](https://www.fs.isy.liu.se/Edu/Courses/ObserversPhD/CourseMaterial/slidingmode.pdf), [10](https://www.fs.isy.liu.se/Edu/Courses/ObserversPhD/CourseMaterial/slotine1987.pdf), [24](https://doi.org/10.1109/TAC.2002.808470)] |[slides](Lectures/slides_5.pdf)|
+| Discussion&nbsp;4 | March 6<br>10:15 - 12:00 | Exercise discussion |||
 
 # References
 [1] Thomas Kailath, "[_Linear Systems_](https://www.fs.isy.liu.se/Edu/Courses/ObserversPhD/CourseMaterial/Kailath_coursematerial.pdf)", Prentice-Hall, 1980.