On the almost sure central limit theorem for ARX processes in adaptive tracking

The goal of this paper is to highlight the almost sure central limit theorem for martingales to the control community and to show the usefulness of this result for the system identification of controllable ARX(p,q) process in adaptive tracking. We also provide strongly consistent estimators of the even moments of the driven noise of a controllable ARX(p,q) process as well as quadratic strong laws for the average costs and estimation errors sequences. Our theoretical results are illustrated by numerical experiments.