Robust quantum parameter estimation: Coherent magnetometry with feedback

We describe the formalism for optimally estimating and controlling both the state of a spin ensemble and a scalar magnetic field with information obtained from a continuous quantum limited measurement of the spin precession due to the field. The full quantum parameter estimation model is reduced to a simplified equivalent representation to which classical estimation and control theory is applied. We consider both the tracking of static and fluctuating fields in the transient and steady-state regimes. By using feedback control, the field estimation can be made robust to uncertainty about the total spin number.