Computational aspects of finite time interval identification without state estimations

Using a MIMO helicopter model as an example, various computational aspects are examined for a finite time interval identification technique which avoids initial state estimation. Included in this study are: (i) computational alternatives inherent in the basic formulation, (ii) alternatives which apply to MIMO systems when partial decoupling between pamameters exists within the basic model, and (iii) sensitivity in the identification technique to modeling errors for the input and measurement noise disturbances.