This paper extends to multi-input multi-output (MIMO) systems a nonlinear method of simultaneous parameter and state estimation that appeared in the ASME JDSM&C (September, 1994), for single-input single-output (SISO) systems. The method is called pseudo-linear identification (PLID), and applies to stochastic linear time-invariant discrete-time systems. No assumptions are required about pole or zero locations; nor about relative degree, except that the system transfer functions must be strictly proper. In the earlier paper, proofs of optimality and convergence were given. Extensions of those proofs to the MIMO case are also given here.

1.
Hopkins
M. A.
, and
VanLandingham
H. F.
,
1994
, “
Optimal Nonlinear Estima-tion of Linear Stochastic Systems
,”
ASME JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL
, Vol.
116
, No.
3
, Sept., pp.
529
536
.
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