dlm package in R is one of the best resources out there in the open source community that can be used for DLM inference. The fact that one of the authors is also the contributors to the package has made this book apt for practitioners. However the book is best understood after having a working knowledge of Bayesian inference. By understanding and thinking in State space framework, a modeler gets many more options to model univariate or multivariate time series data. This book does an amazing job in explaining the nuts and bolts of State space models in Bayesian setting.
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