Consistency analysis of the Simplified Refined Instrumental Variable method for Continuous-time systems

In this paper, we analyse the consistency of the Simplified Refined Instrumental Variable method for Continuous-time systems (SRIVC). It is well known that the intersample behaviour of the input signal influences the quality and accuracy of the results when estimating and simulating continuous-time models. Here, we present a comprehensive analysis on the consistency of the SRIVC estimator while taking into account the intersample behaviour of the input signal. The main result of the paper shows that, under some mild conditions, the SRIVC estimator is generically consistent. We also describe some conditions when consistency is not achieved, which is important from a practical standpoint. The theoretical results are supported by simulation examples.