A Multi-innovation Recursive Least Squares Algorithm with a Forgetting Factor for Hammerstein CAR Systems with Backlash

This study addresses the identification of Hammerstein CAR systems with backlash, where the nonlinear backlash is described as one regression identification model using a two switching function mathematical model. In such a case, the Hammerstein CAR systems with backlash can be transformed into a piecewise linearized model. Then, a novel multi-innovation recursive least squares algorithm with a forgetting factor is applied to estimate the parameters of the proposed model. Finally, numerical examples are presented to test the performance of the proposed algorithm.