Experimental Results with Simplified Algorithm of Estimation the Parameters of a Dynamical System

Abstract The paper deals with the three estimation methods of parameters, i.e. non-recursive least-squares method, recursive least-square method, and Kaczmarz's projection algorithm. These methods were experimentaly tested on estimation the parameters of a fast DC motor. The tests showed that the simple projection algorithm gives a little less precise estimates in comparison to the least-squares methods, but is significantly faster. This algorithm can be successfully applied in those situations where occur rapid changes in the description of a system dynamics, what is typical for example in robotics. It can be useful in some applications of indirect adaptive control schemes.