An FPGA-based parallel architecture for on-line parameter estimation using the RLS identification algorithm

Abstract

A parallel architecture for an on-line implementation of the recursive least squares (RLS) identification algorithm on a field programmable gate array (FPGA) is presented. The main shortcoming of this algorithm for on-line applications is its computational complexity. The matrix computation to update error covariance consumes most of the time. To improve the processing speed of the RLS architecture, a multi-stage matrix multiplication (MMM) algorithm was developed. In addition, a trace technique was used to reduce the computational burden on the proposed architecture. High throughput was achieved by employing a pipelined design. The scope of the architecture was explored by estimating the parameters of a servo position control system. No vendor dependent modules were used in this design. The RLS algorithm was mapped to a Xilinx FPGA Virtex-5 device. The entire architecture operates at a maximum frequency of 339.156MHz. Compared to earlier work, the hardware utilization was substantially reduced. An application-specific integrated circuit (ASIC) design was implemented in 180nm technology with the Cadence RTL compiler.