Joint state and multi-innovation parameter estimation for time-delay linear systems and its convergence based on the Kalman filtering

This paper studies the joint state and parameter estimation problem for a linear state space system with time-delay. A multi-innovation gradient algorithm is developed based on the Kalman filtering principle. To improve the convergence rate, a filtering based multi-innovation gradient algorithm is proposed by using the filtering technique. The analysis indicates that the parameter estimates given by the proposed algorithms converge to their true values under the persistent excitation conditions. A simulation example is given to confirm that the proposed algorithms are effective.