Convergence in Delayed Recursive Identification of Nonlinear Systems

Early detection of delay attacks on feedback control systems can be achieved by recursive identification of delay and dynamics. The paper contributes with an analysis of the convergence of a multiple-model based algorithm for joint recursive identification of fractional delay and continuous time nonlinear state space dynamics. It is proved that the true parameter vector is in the set of global convergence points, while reasons are given why a standard local stability analysis fails. A numerical example illustrates these results.