Wiley Series in Dynamics and Control of Electromechanical Systems Ser.: Algebraic Identification and Estimation Methods in Feedback Control Systems by Hebertt Sira-Ramírez, Carlos García Rodríguez, Alberto Luviano Juárez and John Cortés Romero (2014, Hardcover)
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ISBN-13: 9781118730607, 978-1118730607. The approach can be used with continuous and discrete, linear and nonlinear, mono-variable and multi-variable systems.