Robust Time-Varying Parameters Estimation Based on I-DREM Procedure

We consider a class of systems with time-varying parameters, which are represented in the form linear regressions bounded disturbances. The task is to estimate such parameters under condition that regressor finitely exciting (FE). Considering problem statement, new robust method proposed identify error, could be reduced finite limit. For this purpose, unknown expanded into Taylor series order transform estimation piecewise-constant parameters. This results increase dimensionality identification problem. Then, I-DREM procedure exponential forgetting, resetting, and normalization regressor, has been earlier by authors, applied obtained regression. In contrast known solutions, allows one get back initial provide required convergence parameter error set adjustable bound FE condition. addition, guarantees beyond excitation interval. above properties proved analytically demonstrated via numerical experiments.