With fast sampling, a state variable filter least squares method yields parameter estimation error variance O(h) in the sampling interval, even with colored noise, offsets, and closed-loop operation.
Closed-loop identification revisited,
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Fast Sampling for System Identification: Overcoming Noise, Offsets, and Closed-Loop Challenges with State Variable Filter
With fast sampling, a state variable filter least squares method yields parameter estimation error variance O(h) in the sampling interval, even with colored noise, offsets, and closed-loop operation.