Abstract
A parameter estimation algorithm which can be applied to the adaptive control of linear systems is presented. The algorithm is basically the least squares algorithm but includes a dead zone, a modification operator and a forgetting factor. Modification operator is a formulation of so-called soft constraints of the estimates. Projection can be regarded as a special case of modification operator. For the calculation of forgetting factor, Ydstie and Sargent's formula based on the constant information principle is modified so that it can be applied to the plant model with unmodelled plant uncertainties and external disturbances. It is shown that the proposed algorithm retains some important properties of the standard recursive least squares algorithm which are crucial in proving the closed-loop stability.
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