Analysis of the controller and identification algorithm gains for closed-loop identification applied to a perturbed DC servomechanism working under PD control

Usually, when an identification algorithm is applied to a given system, it is normal to pay attention only to the gains of the matrix related with the identification algorithm. However, it can be shown that, for some closed-loop identification structures, as the one studied in this paper, the gains of the controller employed for closing the loop of the system play an important role in the identification procedure and affect the region where the parameter estimates are supposed to converge to. In this situation it is important to consider the behavior that the parameter estimates have when varying not only the identification matrix gains, but also the controller gains. This paper analyses the behavior of the parameter estimates for a closed-loop identification methodology applied to a DC servomechanism with a bounded perturbation signal. Some properties of the region where the parameter estimates converge to are shown through the variation of both the PD controller gains and the identification matrix gains.