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The proposed FMS smoother does not require information of the noise covariances as well as the initial state. The proposed FMS smoother is shown to have good inherent properties such as time-invariance, unbiasedness, and deadbeat. The forgetting factor is shown to be considered as useful parameter to make the estimation performance of the proposed FMS smoother as good as possible. Through computer simulations for the F-404 engine system, it is shown that the proposed FMS smoother can be better than the existing FMS smoother for incorrect noise covariances and the IMS smoother for temporary 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