<math> p(x_{t+1}|x_t)=\mathcal{N}(Ax_{t}+a_0,\Sigma)\equiv \frac{1}{(2\pi)^\frac{n}{2}\det(\Sigma)^\frac{1}{2}}\exp\left\{-\frac{1}{2}(x_{t+1}-Ax_t-a_0)^T\Sigma^{-1}(x_{t+1}-Ax_t-a_0)\right\}, | <math> p(x_{t+1}|x_t)=\mathcal{N}(Ax_{t}+a_0,\Sigma)\equiv \frac{1}{(2\pi)^\frac{n}{2}\det(\Sigma)^\frac{1}{2}}\exp\left\{-\frac{1}{2}(x_{t+1}-Ax_t-a_0)^T\Sigma^{-1}(x_{t+1}-Ax_t-a_0)\right\}, |