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Two approaches are proposed for on-line identification of parameters in a class of nonlinear discrete-time systems. The system is modeled by state equations in which state and input variables enter nonlinearly in general polynomial form, while unknown parameters and random disturbances enter linearly. All states and inputs must be observed with measurement errors represented by white Gaussian noise having known covariance. System disturbances are also white and Gaussian with finite, but unknown, covariance. One method of parameter estimation is based upon a least squares approach, the second is a related stochastic approximation algorithm (SAA). Under fairly mild conditions the estimate derived from the least squares algorithm (LSA) is shown to converge in probability to the correct parameter; the SAA yields an estimate which converges in mean square and with probability 1. Examples illustrate convergence of the LSA which even in recursive form requires inversion of a matrix at each step. The SAA requires no matrix inversions, but experience with the algorithm indicates that convergence is slow relative to that of the LSA.
Date of Publication: Apr 1983