An approach for closed loop system identification

In this paper one investigates an approach for system identification in closed loop starting from the pole placement control design using an R-S-T controller. A convenient re-parametrization of the prefilter (T) leads to error equations which are linear in the plant parameter errors and with a regressor which depends exclusively upon the external reference signals. This allows to derive parameter estimation algorithms which are asymptotically unbiased in the presence of noise. A convergence analysis of the parameter estimation algorithm in a stochastic environment using the ODE approach is presented. Simulations illustrate the potentiality of the proposed approach