Persistency of excitation criteria for linear, multivariable, time-varying systems

For continuous-time, multiple-input, multiple-output, linear systems, we present conditions under which the persistency of excitation of one regression vector implies the persistency of another regression vector derived from the first via a linear, dynamical transformation. We then introduce a definition of sufficient richness for vector input signals in the form of a persistency of excitation condition on a basis regression vector. Finally we establish input conditions which guarantee the persistency of excitation of a large class of regression vectors obtained from both time-invariant and time-varying systems.

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