A method for continuous-time identification of moored systems

In this paper a method for continuous-time identification for the class of moored semisubmersible marine systems based on totally measured states is presented. The exponential convergence of parameter trajectories is analyzed in the context of conditions for persistency of excitation (PE). A regression for the estimator is constructed containing generically 312 parameters to be identified. The presented analysis has revealed that the regressor must expand a space of only 24 dimensions instead of 312 for unbiased estimates. Under monochromatic excitation, PE conditions are expected to be satisfied only in. chaotic behaviors. A case study of a real moored crane-platform is modelled and simulated to verify such conditions.