On-line parameter estimator derived from modified matrix pseudoinverse

A method based on the matrix pseudoinverse is considered for on-line parameter identification of discrete-time nonlinear systems. A recursive scheme was previously reported but assuming some restrictions on the input-output data. By resorting to the formulae developed for modified matrix pseudoinverse, an iterative algorithm is derived in this work. This algorithm applies to the general class of proposed systems while keeping well known desired properties for parameter identification.