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Estimate model coefficients using recursive least squares (RLS) algorithm

**Library:**System Identification Toolbox / Estimators

The Recursive Least Squares Estimator estimates the parameters of a system using a model that is linear in those parameters. Such a system has the following form:

$$y(t)=H(t)\theta (t).$$

*y* and *H* are known quantities that you provide to the
block to estimate *θ*. The block can provide both infinite-history [1] and
finite-history [2] (also known as
sliding-window), estimates for *θ*. For more information on these methods,
see Recursive Algorithms for Online Parameter Estimation.

The block supports several estimation methods and data input formats. Configurable options in the block include:

Sample-based or frame-based data format — See the

**Input Processing**parameter.Infinite-history or finite- history estimation — See the

**History**parameter.Multiple infinite-history estimation methods — See the

**Estimation Method**parameter.Initial conditions, enable flag, and reset trigger — See the

**Initial Estimate**,**Add enable port**, and**External Reset**parameters.

For a given time step *t*, *y*(*t*) and
*H*(*t*) correspond to the **Output **and
**Regressors** inports of the Recursive Least Squares
Estimator block, respectively. *θ*(*t*)
corresponds to the **Parameters** outport.

For example, suppose that you want to estimate a scalar gain, *θ*, in the
system *y* =
*h*^{2}*θ*. Here, *y* is linear with respect to *θ*.
You can use the Recursive Least Squares Estimator block to estimate
*θ*. Specify *y* and
*h*^{2} as inputs to the
**Output** and **Regressor** inports.

`Regressors`

— Regressors signalvector | matrix

Regressors input signal *H*(*t*). The
**Input Processing** and **Number of Parameters**
parameters define the dimensions of the signal:

Sample-based input processing and

*N*estimated parameters — 1-by-*N*vectorFrame-based input processing with

*M*samples per frame and*N*estimated parameters —*M*-by-*N*matrix

**Data Types: **`single`

| `double`

`Output`

— Measured outputscalar | vector

Measured output signal *y*(*t*). The
**Input Processing** parameter defines the dimensions of the signal:

Sample-based input processing — Scalar

Frame-based input processing with

*M*samples per frame —*M*-by-1 vector

**Data Types: **`single`

| `double`

`Enable`

— Enable estimation updates`true`

(default) | `false`

External signal that allows you to enable and disable estimation updates. If the signal value is:

`true`

— Estimate and output the parameter values for the time step.`false`

— Do not estimate the parameter values, and output the most recent previously estimated value.

To enable this port, select the **Add enable port**
parameter.

**Data Types: **`single`

| `double`

| `Boolean`

| `int8`

| `int16`

| `int32`

| `int64`

| `uint8`

| `uint16`

| `uint32`

`Reset`

— Reset triggerscalar

Reset parameter estimation to its initial conditions. The value of the
**External reset** parameter determines the trigger type. The
trigger type dictates whether the reset occurs on a signal that is rising, falling,
either rising or falling, level, or on level hold.

To enable this port, select any option other than
`None`

in the **External reset**
dropdown.

**Data Types: **`single`

| `double`

| `Boolean`

| `int8`

| `int16`

| `int32`

| `uint8`

| `uint16`

| `uint32`

`InitialParameters`

— Initial parameter estimatesvector

Initial parameter estimates, supplied from a source external to the block. The
block uses this inport at the beginning of the simulation or when you trigger an
algorithm reset using the **Reset** signal.

The **Number of Parameters** parameter defines the dimensions of
the signal. If there are *N* parameters, the signal is
*N*-by-1.

To enable this port, set **History** to
`Infinite`

and **Initial Estimate** to
`External`

.

**Data Types: **`single`

| `double`

`InitialCovariance`

— Initial covariance of parameterspositive scalar (default) | vector of positive scalars | symmetric positive-definite matrix

Initial parameter covariances, supplied from a source external to the block. For
details, see the **Parameter Covariance Matrix** parameter.The block
uses this inport at the beginning of the simulation or when you trigger an algorithm
reset using the **Reset** signal.

To enable this port, set the following parameters:

**History**to`Infinite`

**Estimation Method**to`Forgetting Factor`

or`Kalman Filter`

**Initial Estimate**to`External`

**Data Types: **`single`

| `double`

`InitialRegressors`

— Initial values of the regressors matrix

Initial values of the regressors in the initial data window when using
finite-history (sliding-window) estimation, supplied from an external source. The
**Window length** parameter *W* and the
**Number of Parameters** parameter *N* define the
dimensions of this signal, which is *W*-by-*N*.

The **InitialRegressors** signal controls the initial behavior of
the algorithm. The block uses this inport at the beginning of the simulation or
whenever the **Reset** signal triggers.

If the initial buffer is set to `0`

or does not contain enough
information, you see a warning message during the initial phase of your estimation.
The warning should clear after a few cycles. The number of cycles it takes for
sufficient information to be buffered depends upon the order of your polynomials and
your input delays. If the warning persists, you should evaluate the content of your
signals.

To enable this port, set **History** to
`Finite`

and **Initial Estimate** to
`External`

.

**Data Types: **`single`

| `double`

`InitialOutputs`

— Initial value of the measured output buffervector

Initial set of output measurements when using finite-history (sliding-window)
estimation, supplied from an external source. The signal to this port must be a
*W*-by-1 vector, where *W* is the window
length.

The **InitialOutputs** signal controls the initial behavior of
the algorithm. The block uses this inport at the beginning of the simulation or
whenever the **Reset** signal triggers.

If the initial buffer is set to `0`

or does not contain enough
information, you see a warning message during the initial phase of your estimation.
The warning should clear after a few cycles. The number of cycles it takes for
sufficient information to be buffered depends upon the order of your polynomials and
your input delays. If the warning persists, you should evaluate the content of your
signals.

To enable this port, set **History** to
`Finite`

, and **Initial Estimate** to
`External`

.

**Data Types: **`single`

| `double`

`Parameters`

— Estimated parametersvector

Estimated parameters *θ*(*t*), returned as an
*N*-by-1 vector where *N* is the number of
parameters.

**Data Types: **`single`

| `double`

`Error`

— Estimation errorscalar | vector

Estimation error, returned as:

Scalar — Sample-based input processing

*M*-by-1 vector — Frame-based input processing with*M*samples per frame

To enable this port, select the **Output estimation error**
parameter.

**Data Types: **`single`

| `double`

`Covariance`

— Parameter estimation error covariance Pmatrix

Parameter estimation error covariance *P*, returned as an
*N*-by-*N* matrix, where *N* is
the number of parameters. For details, see the **Output Parameter Covariance
Matrix** parameter.

To enable this port:

If

**History**is`Infinite`

, set**Estimation Method**to`Forgetting Factor`

or`Kalman Filter`

.Whether

**History**is`Infinite`

or`Finite`

, select the**Output parameter covariance matrix**parameter.

**Data Types: **`single`

| `double`

`Initial Estimate`

— Source of initial parameter estimates`None`

(default) | `Internal`

| `External`

Specify how to provide initial parameter estimates to the block:

`None`

— Do not specify initial estimates.If

**History**is`Infinite`

, the block uses`1`

as the initial parameter estimate.If

**History**is`Finite`

, the block calculates the initial parameter estimates from the initial**Regressors**and**Outputs**signals.

Specify

**Number of Parameters**, and also, if**History**is`Infinite`

,**Parameter Covariance Matrix**.`Internal`

— Specify initial parameter estimates internally to the blockIf

**History**is`Infinite`

, specify the**Initial Parameter Values**and**Parameter Covariance Matrix**parameters.If

**History**is`Finite`

, specify the**Number of Parameters**, the**Initial Regressors**, and the**Initial Outputs**parameters.

`External`

— Specify initial parameter estimates as an input signal to the block.Specify the

**Number of Parameters**parameter. Your setting for the**History**parameter determines which additional signals to connect to the relevant ports:If

**History**is`Infinite`

—**InitialParameters**and**InitialCovariance**If

**History**is`Finite`

—**InitialRegressors**and**InitialOutputs**

Block Parameter:
`InitialEstimateSource` |

Type: character vector, string |

Values: `'None'` ,
`'Internal'` , `'External'` |

Default: `'None'` |

`Number of Parameters`

— Number of parameters to estimate`2`

(default) | positive integerSpecify the number of parameters to estimate in the model, equal to the number of
elements in the parameter *θ*(*t*) vector.

To enable this parameter, set either:

**History**to`Infinite`

and**Initial Estimate**to either`None`

or`External`

**History**to`Finite`

An alternative way to specify the number of parameters *N* to
estimate is by using the **Initial Parameter Values** parameter,
for which you define an initial estimate vector with *N* elements.
This approach covers the one remaining combination, where
**History** is `Infinite`

and
**Initial Estimate** is `Internal`

. For
more information, see **Initial Parameter Values**.

Block Parameter:
`InitialParameterData` |

Type: positive integer |

Default: `2` |

`Parameter Covariance Matrix`

— Initial parameter covariance`1e4`

(default) | scalar | vector | matrix Specify **Parameter Covariance Matrix** as a:

Real positive scalar,

*α*— Covariance matrix is an*N*-by-*N*diagonal matrix, with*α*as the diagonal elements.Vector of real positive scalars, [

*α*_{1},...,*α*_{N}] — Covariance matrix is an*N*-by-*N*diagonal matrix, with [*α*_{1},...,*α*_{N}] as the diagonal elements.*N*-by-*N*symmetric positive-definite matrix.

Here, *N* is the number of parameters to be
estimated.

To enable this parameter, set the following parameters:

**History**to`Infinite`

**Initial Estimate**to`None`

or`Internal`

**Estimation Method**to`Forgetting Factor`

or`Kalman Filter`

Block Parameter:
`P0` |

Type: scalar, vector, or matrix |

Default: `1e4` |

`Initial Parameter Values`

— Initial values of the parameters to estimate`[1 1]`

(default) | vectorSpecify initial parameter values as a vector of length *N*, where
*N* is the number of parameters to estimate.

To enable this parameter, set **History** to
`Infinite`

and **Initial Estimate** to
`Internal`

.

Block Parameter:
`InitialParameterData` |

Type: real vector |

Default: `[1 1]` |

`Initial Regressors`

— Initial values of the regressors buffer`0`

(default) | matrixSpecify the initial values of the regressors buffer when using finite-history
(sliding window) estimation. The **Window length** parameter
*W* and the **Number of Parameters** parameter
*N* define the dimensions of the regressors buffer, which is
*W*-by-*N*.

The **Initial Regressors** parameter controls the initial
behavior of the algorithm. The block uses this parameter at the beginning of the
simulation or whenever the **Reset** signal triggers.

When the initial value is set to `0`

, the block populates the
buffer with zeros.

If the initial buffer is set to `0`

or does not contain enough
information, you see a warning message during the initial phase of your estimation.
The warning should clear after a few cycles. The number of cycles it takes for
sufficient information to be buffered depends upon the order of your polynomials and
your input delays. If the warning persists, you should evaluate the content of your
signals.

To enable this parameter, set **History** to
`Finite`

and **Initial Estimate** to
`Internal`

.

Block Parameter:
`InitialRegressors` |

Type: real matrix |

Default: `0` |

`Initial Outputs`

— Initial values of the measured outputs buffer`0`

(default) | vectorSpecify initial values of the measured outputs buffer when using finite-history
(sliding-window) estimation. This parameter is a *W*-by-1 vector,
where *W* is the window length.

When the initial value is set to `0`

, the block populates the
buffer with zeros.

`0`

or does not contain enough
information, you see a warning message during the initial phase of your estimation.
The warning should clear after a few cycles. The number of cycles it takes for
sufficient information to be buffered depends upon the order of your polynomials and
your input delays. If the warning persists, you should evaluate the content of your
signals.

The **Initial Outputs** parameter controls the initial behavior
of the algorithm. The block uses this parameter at the beginning of the simulation or
whenever the **Reset** signal triggers.

To enable this parameter, set **History** to
`Finite`

and **Initial Estimate** to
`Internal`

.

Block Parameter:
`InitialOutputs` |

Type: real vector |

Default: `0` |

`Input Processing`

— Choose sample-based or frame-based processing`Sample-based`

(default) | `Frame-based`

`Sample-based`

processing operates on signals streamed one sample at a time.`Frame-based`

processing operates on signals containing samples from multiple time steps. Many machine sensor interfaces package multiple samples and transmit these samples together in frames.`Frame-based`

processing allows you to input this data directly without having to first unpack it.

Specifying frame-based data adds an extra dimension of *M* to
some of your data inports and outports, where *M* is the number of
time steps in a frame. These ports are:

**Regressors****Output****Error**

For more information, see the port descriptions in Ports.

Block Parameter:
`InputProcessing` |

Type: character vector, string |

Values: `'Sample-based'` ,
`'Frame-based'` |

Default:
`'Sample-based'` |

`Sample Time`

— Block sample time `-1`

(default) | positive scalarSpecify the data sample time, whether by individual samples for sample-based
processing (*t _{s}*), or by frames for
frame-based processing (

Specify **Sample Time** as a positive scalar to override the
inheritance.

Block Parameter:
`Ts` |

Type: real scalar |

Default: `-1` |

`History`

— Choose infinite or finite data history `Infinite`

(default) | `Finite`

The **History** parameter determines what type of recursive
algorithm you use:

`Infinite`

— Algorithms in this category aim to produce parameter estimates that explain all data since the start of the simulation. These algorithms retain the history in a data summary. The block maintains this summary within a fixed amount of memory that does not grow over time.The block provides multiple algorithms of the

`Infinite`

type. Selecting this option enables the**Estimation Method**parameter with which you specify the algorithm.`Finite`

— Algorithms in this category aim to produce parameter estimates that explain only a finite number of past data samples. The block uses all of the data within a finite window, and discards data once that data is no longer within the window bounds. This method is also called sliding-window estimation.Selecting this option enables the

**Window Length**parameter that sizes the sliding window.

For more information on recursive estimation methods, see Recursive Algorithms for Online Parameter Estimation

Block Parameter:
`History` |

Type: character vector, string |

Values: `'Infinite'` ,
`'Finite'` |

Default:
`'Infinite'` |

`Window Length`

— Window size for finite sliding-window estimation`200`

(default) | positive integerThe **Window Length** parameter determines the number of time
samples to use for the sliding-window estimation method. Choose a window size that
balances estimation performance with computational and memory burden. Sizing factors
include the number and time variance of the parameters in your model. Always specify
**Window Length** in samples, even if you are using frame-based
input processing.

**Window Length** must be greater than or equal to the number of
estimated parameters.

Suitable window length is independent of whether you are using sample-based or
frame-based input processing. However, when using frame-based processing,
**Window Length** must be greater than or equal to the number of
samples (time steps) contained in the frame.

To enable this parameter, set **History** to
`Finite`

.

Block Parameter:
`WindowLength` |

Type: positive integer |

Default: `200` |

`Estimation Method`

— Recursive estimation algorithm`Forgetting Factor`

(default) | `Kalman Filter`

| `Normalized Gradient`

| `Gradient`

Specify the estimation algorithm when performing infinite-history estimation. When you select any of these methods, the block enables additional related parameters.

Forgetting factor and Kalman filter algorithms are more computationally intensive than gradient and normalized gradient methods. However, these more intensive methods have better convergence properties than the gradient methods. For more information about these algorithms, see Recursive Algorithms for Online Parameter Estimation.

Block Parameter:
`EstimationMethod` |

Type: character vector, string |

Values: ```
'Forgetting
Factor'
``` ,`'Kalman Filter'` ,```
'Normalized
Gradient'
``` ,`'Gradient'` |

Default: ```
'Forgetting
Factor'
``` |

`Forgetting Factor`

— Discount old data using forgetting factor`1`

(default) | positive scalar in (0 1] rangeThe forgetting factor *λ* specifies if and how much old data is
discounted in the estimation. Suppose that the system remains approximately constant
over *T _{0}* samples. You can choose

$${T}_{0}=\frac{1}{1-\lambda}$$

Setting

*λ*= 1 corresponds to “no forgetting” and estimating constant coefficients.Setting

*λ*< 1 implies that past measurements are less significant for parameter estimation and can be “forgotten.” Set*λ*< 1 to estimate time-varying coefficients.

Typical choices of *λ* are in the [0.98 0.995]
range.

To enable this parameter, set **History** to
`Infinite`

and **Estimation Method** to
`Forgetting Factor`

.

Block Parameter:
`AdaptationParameter` |

Type: scalar |

Values: (0 1] range |

Default: `1` |

`Process Noise Covariance`

— Process noise covariance for Kalman filter estimation method`1`

(default) | nonnegative scalar | vector of nonnegative scalars | symmetric positive semidefinite matrix**Process Noise Covariance** prescribes the elements and
structure of the noise covariance matrix for the Kalman filter estimation. Using
*N* as the number of parameters to estimate, specify the
**Process Noise Covariance** as one of the following:

Real nonnegative scalar,

*α*— Covariance matrix is an*N*-by-*N*diagonal matrix, with*α*as the diagonal elements.Vector of real nonnegative scalars, [

*α*_{1},...,*α*_{N}] — Covariance matrix is an*N*-by-*N*diagonal matrix, with [*α*_{1},...,*α*_{N}] as the diagonal elements.*N*-by-*N*symmetric positive semidefinite matrix.

The Kalman filter algorithm treats the parameters as states of a dynamic system
and estimates these parameters using a Kalman filter. **Process Noise
Covariance** is the covariance of the process noise acting on these
parameters. Zero values in the noise covariance matrix correspond to constant
coefficients, or parameters. Values larger than 0 correspond to time-varying
parameters. Use large values for rapidly changing parameters. However, expect the
larger values to result in noisier parameter estimates. The default value is 1.

To enable this parameter, set **History** to
`Infinite`

and **Estimation Method** to
`Kalman Filter`

.

Block Parameter:
`AdaptationParameter` |

Type: scalar, vector, matrix |

Default: `1` |

`Adaptation Gain`

— Adaptation gain specification for gradient estimation methods`1`

(default) | positive scalarThe adaptation gain *γ* scales the influence of new measurement
data on the estimation results for the gradient and normalized gradient methods. When
your measurements are trustworthy, or in other words have a high signal-to-noise
ratio, specify a larger value for *γ*. However, setting
*γ* too high can cause the parameter estimates to diverge. This
divergence is possible even if the measurements are noise free.

When **Estimation Method** is
`NormalizedGradient`

, **Adaptation Gain**
should be less than 2. With either gradient method, if errors are growing in time (in
other words, estimation is diverging), or parameter estimates are jumping around
frequently, consider reducing **Adaptation Gain**.

To enable this parameter, set **History** to
`Infinite`

and **Estimation Method** to
`Normalized Gradient`

or to
`Gradient`

.

Block Parameter:
`AdaptationParameter` |

Type: scalar |

Default: `1` |

`Normalization Bias`

— Bias for adaptation gain scaling for normalized gradient estimation method`eps`

(default) | nonnegative scalar The normalized gradient algorithm scales the adaptation gain at each step by the
square of the two-norm of the gradient vector. If the gradient is close to zero, the
near-zero denominator can cause jumps in the estimated parameters.
**Normalization Bias** is the term introduced to the denominator to
prevent these jumps. Increase **Normalization Bias** if you observe
jumps in estimated parameters.

To enable this parameter, set **History** to
`Infinite`

and **Estimation Method** to
`Normalized Gradient`

.

Block Parameter:
`NormalizationBias` |

Type: scalar |

Default: `eps` |

`Output estimation error`

— Add Error outport to block`off`

(default) | onUse the **Error** outport signal to validate the estimation. For
a given time step *t*, the estimation error
*e*(*t*) is calculated as:

$$e(t)=y(t)-{y}_{est}(t),$$

where *y*(*t*) is the measured output that you
provide, and *y _{est}*(

Block Parameter:
`OutputError` |

Type: character vector, string |

Values:
`'off'` ,`'on'` , |

Default: `'off'` |

`Output parameter covariance matrix`

— Add covariance outport to block`off`

(default) | onUse the **Covariance** outport signal to examine parameter
estimation uncertainty. The software computes parameter covariance
`P`

assuming that the residuals,
*e*(*t*), are white noise, and the variance of
these residuals is 1.

The interpretation of `P`

depends on the estimation approach you
specify in **History** and **Estimation Method** as follows:

If

**History**is`Infinite`

, then your**Estimation Method**selection results in:`Forgetting Factor`

— (*R*_{2}`/2`

)`P`

is approximately equal to the covariance matrix of the estimated parameters, where*R*is the true variance of the residuals. The block outputs the residuals in the_{2}**Error**port.`Kalman Filter`

—*R*_{2}`P`

is the covariance matrix of the estimated parameters, and*R*/_{1}*R*is the covariance matrix of the parameter changes. Here,_{2}*R*is the covariance matrix that you specify in_{1}**Parameter Covariance Matrix**.`Normalized Gradient`

or`Gradient`

— Covariance*P*is not available.

If

**History**is`Finite`

(sliding-window estimation) —*R*_{2}*P*is the covariance of the estimated parameters. The sliding-window algorithm does not use this covariance in the parameter-estimation process. However, the algorithm does compute the covariance for output so that you can use it for statistical evaluation.

Block Parameter:
`OutputP` |

Type: character vector, string |

Values:
`'off'` ,`'on'` |

Default: `'off'` |

`Add enable port`

— Add Enable inport to block`off`

(default) | onUse the **Enable** signal to provide a control signal that
enables or disables parameter estimation. The block estimates the parameter values for
each time step that parameter estimation is enabled. If you disable parameter
estimation at a given step, *t*, then the software does not update
the parameters for that time step. Instead, the block outputs the last estimated
parameter values.

You can use this option, for example, when or if:

Your regressors or output signal become too noisy, or do not contain information at some time steps

Your system enters a mode where the parameter values do not change in time

Block Parameter:
`AddEnablePort` |

Type: character vector, string |

Values:
`'off'` ,`'on'` |

Default: `'off'` |

`External reset`

— Specify trigger for external reset`None`

(default) | `Rising`

| `Falling`

| `Either`

| `Level`

| `Level hold`

Set the **External reset** parameter to both add a
**Reset** inport and specify the inport signal condition that
triggers a reset of algorithm states to their specified initial values. Reset the
estimation, for example, if parameter covariance is becoming too large because of lack
of either sufficient excitation or information in the measured signals.

Suppose that you reset the block at a time step, *t*. If the
block is enabled at *t*, the software uses the initial parameter
values specified in **Initial Estimate** to estimate the parameter
values. In other words, at *t*, the block performs a parameter update
using the initial estimate and the current values of the inports.

If the block is disabled at *t* and you reset the block, the
block outputs the values specified in **Initial Estimate**.

Specify this option as one of the following:

`None`

— Algorithm states and estimated parameters are not reset.`Rising`

— Trigger reset when the control signal rises from a negative or zero value to a positive value. If the initial value is negative, rising to zero triggers reset.`Falling`

— Trigger reset when the control signal falls from a positive or a zero value to a negative value. If the initial value is positive, falling to zero triggers reset.`Either`

— Trigger reset when the control signal is either rising or falling.`Level`

— Trigger reset in either of these cases:Control signal is nonzero at the current time step.

Control signal changes from nonzero at the previous time step to zero at the current time step.

`Level hold`

— Trigger reset when the control signal is nonzero at the current time step.

When you choose any option other than `None`

, the
software adds a Reset inport to the block. You provide the reset control input signal
to this inport.

Block Parameter:
`ExternalReset` |

Type: character vector, string |

Values:
`'None'` ,`'Rising'` ,`'Falling'` ,
`'Either'` , `'Level'` , ```
'Level
hold'
``` |

Default: `'None'` |

[1] Ljung, L. *System Identification: Theory for the
User*. Upper Saddle River, NJ: Prentice-Hall PTR, 1999, pp.
363–369.

[2] Zhang, Q. "Some Implementation
Aspects of Sliding Window Least Squares Algorithms." *IFAC Proceedings*.
Vol. 33, Issue 15, 2000, pp. 763-768.

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Recursive Polynomial Model Estimator | Kalman Filter

- Estimate Parameters of System Using Simulink Recursive Estimator Block
- Online Recursive Least Squares Estimation
- Preprocess Online Parameter Estimation Data in Simulink
- Validate Online Parameter Estimation Results in Simulink
- Generate Online Parameter Estimation Code in Simulink
- Recursive Algorithms for Online Parameter Estimation

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