Abstract We consider d-order Markov chains satisfying a conditional constraint E(aθ(Xi−1, Xi) | Xi−1) = 0, where Xi−1 = (Xi−1, . . . , Xi−d). These comprise quasi-likelihood models and nonlinear and conditionally heteroscedastic autoregressive models with martingale innovations. Estimators for θ can be obtained from estimating equations ∑n i=1Wθ(Xi−1) aθ(Xi−1, Xi) = 0. We review different crite...