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    <p>This table summarizes what's new in Version 2.0:</p>
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          <th bgcolor="#B2B2B2" valign="top"><p>New Features and Changes</p></th>
          <th bgcolor="#B2B2B2" valign="top"><p>Version Compatibility Considerations</p></th>
          <th bgcolor="#B2B2B2" valign="top"><p>Fixed Bugs and Known Problems</p></th>
          <th bgcolor="#B2B2B2" valign="top"><p>Related Documentation at Web Site</p></th>
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          <td bgcolor="#F2F2F2"><p>Yes<br>Details below</p></td>
          <td bgcolor="#F2F2F2"><p>No</p></td>
          <td bgcolor="#F2F2F2"><p><a href="https://ed.fbk.eu/ltpda/mantis/login_page.php" target="_top">Bug Reports</a> at Web site</p></td>
          <td bgcolor="#F2F2F2"><p>Printable Release Notes: <a href="http://www.lisa.aei-hannover.de/ltpda/downloads/version_2_0/files/change_log_v2.0.pdf" target="_top">PDF</a></p></td>
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    <p></p>
    <ul>
      <li><p><a href="#introduction">Introduction</a></p></li>
      <li><p><a href="#newFeatures">New toolbox features and changes</a></p></li>
    </ul>

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    <h3 class="title" id="introduction">Introduction</h3>
    <p>There has been a significant amount of work done since V1.9.3.</p>

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    <h3 class="title" id="newFeatures">New toolbox features and changes</h3>
    <p>The highlights are:</p>
    <ul>
      <li><p>A new Graphical Programming interface for the construction of
          signal processing pipelines (LTPDAworkbench)</p></li>
      <li><p>New data whitening methods are included, <b>ao/whiten1D</b> and
          <b>ao/whiten2D</b>.</p></li>
      <li>
        <p>Most methods of the AO class should now support multiple outputs,
          in addition to the vector output. For example, the following are supported:</p>
        <ul>
          <li><p><b>a = lpsd(b1,b2,b3)</b></p></li>
          <li><p><b>[a1,a2,a3] = lpsd(b1,b2,b3)</b></p></li>
        </ul>
      </li>
      <li>
        <p>Model fitting tools:</p>
        <ul>
          <li><p><b>curvefit</b> for doing non-linear least-squares,
              now including weights</p></li>
          <li><p><b>lscov</b> for doing linear least-squares fitting</p></li>
          <li><p><b>straightLineFit</b> is a wrapper of <b>lscov</b> for
              fitting data with a straight-line</p></li>
        </ul>
      </li>
      <li><p>Operators, +-.*./*/, all conform to more standard MATLAB type 
          behaviour. For example, adding a single AO to a vector of AOs results
          in a vector of AOs where the single AO is added to each element of the vector.</p></li>
      <li><p>Digital filtering with IIR filters now has two possible ways of
          applying a bank of filters. By specifying the &lsquo;<b>bank</b>&rsquo;
          parameter, the filters will be applied as a &lsquo;<b>serial</b>&rsquo;
          bank or a &lsquo;<b>parallel</b>&rsquo; bank.</p></li>
      <li><p>Two new noise-generators are included, <b>noisegen1D</b> and
          <b>noisegen2D</b> (which can produce correlated data streams).</p></li>
      <li><p>AOs can now be built from a set of built-in models. Users can also
          write their own models and point LTPDA to a directory (or more than one)
          containing those model files.</p></li>
      <li><p>The user preferences of LTPDA are now controlled via a graphical
          user interface. To adjust the user preferences, run <b>LTPDAprefs</b>.</p></li>
      <li><p>Two new transfer function representations are present as user classes
          of this version of the toolbox. The class <b>parfrac</b> allows the
          user to build transfer function models that are a series of partial
          fractions; the class <b>rational</b> allows the user to build a
          transfer function as a rational polynomial in s. Some converters also
          exist to go between these and the existing transfer function models,
          <b>pzmodel</b> (pole/zero models), <b>miir</b> (IIR filters) and
          <b>ssm</b> (state-space models).</p></li>
      <li><p>A new method, <b>ao/heterodyne</b>, to heterodyne data at a given
          frequency.</p></li>
      <li><p>All transfer function representations and digital filters now can 
          be assigned input and output units. This means that units are now
          propagated through fully through any analysis.</p></li>
      <li><p>A new <b>rebuild</b> method to rebuild objects from their
          self-contained history trees.</p></li>
      <li>
        <p>New graphical user interfaces</p>
        <ul>
          <li><p>modelViewer - a viewer for the built-in ao and ssm models</p></li>
          <li><p>constructor - a helper for writing object constructors (rewritten)</p></li>
        </ul>
      </li>
      <li><p>New convenient AO methods to apply gain and to add an offset to

          data (<b>scale, offset</b>).</p></li>
      <li><p>Transfer function estimators now return error terms in the
          <b>procinfo</b> field of the result <b>ao</b>.</p></li>
      <li><p>Units are not automatically simplified. Instead the user can now 
          do that on demand with the <b>simplifyYunits</b> method. There are
          also methods to convert between Hz and s: <b>HzToS</b> and <b>sToHz</b>.</p></li>
      <li><p>Digital IIR filters are now initialised to a state based on the
          input data. This should reduce start-up transients.</p></li>
      <li><p>Data in AOs can be converted from one type to another using the
          new <b>ao/convert</b> method.</p></li>
      <li><p>Pole/zero models (<b>pzmodel</b>) now support a delay parameter.</p></li>
    </ul>

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