Algorithms for identification of continuous time nonlinear systems: a passivity approach. Part I: Identification in open-loop operation part II: Identification in closed-loop operation

Algorithms for the identification of continuous time nonlinear plants operating in open-loop and in closed-loop are presented. An adjustable output error type predictor is used in open-loop operation. An adjustable output error type predictor parametrized in terms of the existing controller and the estimated plant model is used in closed-loop operation. The algorithms are derived from stability considerations in the absence of noise and assuming that the plant model is in the model set. Some convergence results based on passivity concepts are presented. Subsequently the algorithms are analyzed in the presence of noise and when the plant model is not in the model set. Examples illustrate the use of the various algorithms.