A series-parallel (SP) identifier with variable relaxation gains

Variable relaxation gains are introduced into the series-parallel (SP) identifier [1]-[5]. These gains are positive functions of the tracking error between the process and identifier outputs. The asymptotic hyperstability of the SP identifier with variable relaxation gains is proved theoretically and demonstrated experimentally. On-line computational requirements and minicomputer experiments of the SP identifier with constant and variable relaxation gains are summarized and compared.