Auxiliary signals which are proportional to the tracking error between the process and identifier outputs are introduced into the series-parallel (SP) identifier [1-2]. The coefficients of these auxiliary signals are updated at each computational cycle. The asymptotic hyperstability of the resulting SP identifier with variable relaxation gains is proved theoretically and demonstrated experimentally. Computational considerations for implementing SP identifiers are noted and the on-line computational requirements of the two SP identifiers are then compared.

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