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In each iteration step, the parameter vector '''p''' is replaced by a new estimate '''p'''+'''q'''. To determine '''q''', the functions ''f''<sub>''i''</sub>('''p'''+'''q''') are approximated by their linearizations
:'''f'''</sub>('''p'''+'''q''') ≈ '''f'''<sub>''i''</sub>('''p''') + '''J'''
where '''J''' is the [[Jacobian]] of '''f''' at '''p'''.
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