A least squares identification algorithm for a state space model with multi-state delays

A parameter estimator is presented for a state space model with time delay based on the given input–output data. The basic idea is to expand the state equations and to eliminate some state variables, and to substitute the state equation into the output equation to obtain the identification model which contains the information vector and parameter vector. A least squares algorithm is developed to estimate the system parameter vectors. Finally, an illustrative example is provided to verify the effectiveness of the proposed algorithm.