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A class of dynamic, nonlinear, statistical models is introduced for the analysis of univariate time series. A distinguishing feature of the models is their reliance on only one primary source of randomness: a sequence of independent and identically distributed normal disturbances. It is established that the models are conditionally Gaussian. This fact is used to define a conditional maximum likelihood method of estimation and prediction.
Ord et al. (1997) studied this question.