Online identification of continuous-time systems with unknown time delay

In this note, we present a recursive algorithm for online identification of systems with unknown time delay. The proposed algorithm can be interpreted as an approximate nonlinear least-squares, corresponding to modified normalized or un-normalized least-squares when the normalizing factor γ>0 or γ=0, respectively. Both algorithms are essentially extensions to general least-squares methodology. Simulation studies demonstrate the characteristics and performance of these algorithms.