Step 1. Data acquisition and initialization:
   set and where is a scalar and
    is the identity matrix of size
    and ,
Step 2. Increment and construct the observation vector
    , the generalized observation vector
    using (9) and (16),
Step 3. Estimate using the developed identification
Step 4. Return to Step 2 until where is the
   number of input/output data.
Algorithm 1