Welcome to the
homepage of
M.C. Campi (Marco Campi)
M.C. Campi
(Prof.)
Dept. of
Information
Engineering
University of
Brescia
via Branze,
38
25123 Brescia
ITALY
ph: ++39.030.3715458
e-mail: marco.campi@unibs.it
wikipage:
https://en.wikipedia.org/wiki/Marco_Claudio_Campi
HOT RESEARCH SUBJECTS
- Scenario optimization
- Virtual Reference
Feedback Tuning
- Guaranteed
regions for identified models (LSCR)
NEWS
New
book on the scenario
approach:
2021
February: graduate
course on the Scenario
approach
(online) 08/02 - 12/02 (http://www.eeci-igsc.eu/)
2020 September: Plenary speaker at COPA 2020,
Verona, 9-11
September, 2020. Talk: Risk and Complexity in Prediction Problems" VIDEO
2017
September: Plenary speaker at Optimization 2017,
Lisbon, Portugal, September 6-8, 2017.
"SELECTED TOPICS IN
PROBABILITY", lecture
notes by Marco C. Campi
PHOTOGRAPHY
Marco Claudio Campi is Professor of Automatic Control
at the University of Brescia, Italy.
In 1988, he received the
Doctor degree in electronic engineering from the Politecnico
di Milano, Milano, Italy. From 1988 to 1989, he was a Lecturer at
the Department
of Electrical Engineering of the Politecnico
di Milano. From 1989 to 1992, he was a Research Fellow at the Centro
di
Teoria dei Sistemi
of
the National Research Council (CNR) in Milano and, in
1992, he
joined the University of Brescia, Brescia, Italy. He has held
visiting
and teaching appointments at the Australian National University,
Canberra, Australia; the University of Illinois at Urbana-Champaign,
USA; the Centre for Artificial Intelligence and Robotics,
Bangalore, India; the University of Melbourne, Australia; the Kyoto
University, Japan; the Texas A&M University, USA; the NASA
Langley Research Center, Hampton, Virginia. USA.
Marco Campi is the chair of
the Technical Committee IFAC on
Modeling, Identification and Signal Processing (MISP),
and was the Chair of the Technical Committee IFAC on Stochastic Systems (SS) from 2002 to 2008. He has
been in various capacities on the Editorial Board of Automatica, Systems and Control Letters and the European Journal of Control. Marco Campi is a recipient of the
"Giorgio Quazza" prize, and, in 2008, he
received the IEEE CSS George S. Axelby
outstanding
paper award for the article The Scenario
Approach to Robust Control Design. He has delivered plenary and semi-plenary
addresses at major conferences including SYSID, MTNS, and CDC.
Currently he is
a disinguished lecturer of the Control Systems Society. Marco Campi is a Fellow of IEEE, a Fellow of
IFAC, and a member of SIDRA.
The research interests of
Marco Campi include: system identification, stochastic
systems, randomized
methods, adaptive and data-based control, robust
optimization,
and learning theory.
· research
interests
· projects
· selected presentations
HOT RESEARCH SUBJECTS:
- Robust convex optimization
- Virtual Reference
Feedback Tuning
- Guaranteed
regions for identified models (LSCR)
· Robust and chance-constrained optimization
Collaborators:
Simone Garatti
Maria Prandini
Algo Care
·
Randomized methods
Collaborators:
Simone Garatti
Maria Prandini
Algo Care
·
Finite sample properties of system
identification
Collaborators:
Erik Weyer
Balazs Csanad
Csaji
· Direct controller design (VRFT)
Collaborators:
Sergio Savaresi
Simone Formentin
Andrea Lecchini
· Adaptive and switching control
Collaborators:
Sergio Bittanti
Maria Prandini
P.R. Kumar
Joao Hespanha
·
Learning theory
Collaborators:
P.R. Kumar
M. Vidyasagar
F.
Baronio
·
Prediction theory
Collaborators:
Marco
Dalai
Simone Garatti
Giuseppe
Calafiore
Laurent
El Ghaoui
WEB PAGES:
-- Fondamenti di
automatica e Fondamenti di Automatica A e B
Undergraduate courses:
2018
- Uncertain
dynamical systems (University of Brescia)
2010 - 2017 System
identification and data analysis (University of Brescia)
2002 - 2009 Methodologies and techniques for estimation and system
identification (University of Brescia)
1992 - Fundamentals of
systems theory and automatic control (University
of Brescia)
1998-2002 Automatic Control (University of Brescia)
1992-1995 System identification (Politecnico
di
Milano)
Marco Campi has obtained
the highest score as an undergraduate instructor in the last academic
year.
Graduate courses:
February 2022 "From data
to decisions: the scenario approach
(with applications to systems, control and machine learning" (EECI-IGSC
Politecnico di Milano and on-line)
September 2021 "Data-driven approaches to uncertain
optimization; theory and applications" (Politecnico di Milano)
July 2021 “Scenario-based and Data
Driven MPC” (as part of the
Chinese MPC school 2021 – videos: talk 1/4 [10];
talk 2/4 [11];
talk 3/4 [12];
talk 4/4 [13])
June 2021, “Data-Driven
Decision Making and the Scenario Approach” (as part of the EPFL
& ETHZ
Summer School on “Foundations and Mathematical Guarantees of
Data-Driven
Control” - video https://youtu.be/iMT-W5HqQsM)
February 2021 "From data
to decisions: the scenario approach" (EECI-IGSC on-line)
January 2020 “Data-Driven
Decision Making and the Scenario Approach” (Winter
School on Optimization and Operations Research - Zinal)
January 2020 "From data to decisions: the scenario approach
(systems, control, machine learning)" (Indian Institute of
Technology, Bombay)
January 2019 "The scenario approach: making decisions in an
uncertain
world (systems, control, machine learning)" (Yildiz Technical University, Istanbul)
Jenuary 2018 "The scenario
approach
for systems, control and machine learning" (Supelec,
France)
September 2017 "Data-based approaches to uncertain optimization:
theory
and applications" (Politecnico
di
Milano)
November 2016 "Scenario
Optimization: Heuristics and Certificates in Decision Making" (University
of Melbourne)
October 2015 "Introduction to the Scenario
Approach"
(Texas A&M)
September 2015 "Sample-based approaches to uncertain optimization -
theory and applications" (Politecnico
di Milano)
February 2015 "The scenario approach for robust control,
identification and machine learning" (Supelec,
France)
Jenuary 2014 "The scenario
approach -
Theory and applications" (Supelec,
France)
Jenuary 2013 "Uncertain
optimization
via sample-based approaches" (Supelec,
France)
July 2012 "Identification with finitely many data points" (Bertinoro, Italy)
February 2012 "Randomization in systems and control
design:
the scenario approach" (Supelec,
France)
September 2009 "Robust optimization" (Politecnico di Milano)
March 2007 "Learning from data: intrinsic limits and
perspectives" (University of Brescia)
Sept. 2006 "System identification and the limits
of
learning from data" (notes) (Universitat
Politecnica de Valencia)
July 2005 Co-instructor at the national
graduate school
on "Adaptive systems" (Bertinoro,
Italy)
Oct. 2002 "What can be learned from data?" (University
of Melbourne)
April 2002 "Statistical theory of learning" (Politecnico di Milano)
Gen. 2000 "Data-based design of feedback controllers:
direct methods" (University of Melbourne)
July 1999 Co-instructor at the national graduate school on "Statistical
methods in identification" (Bertinoro,
Italy)
1997-1998 "Frequency domain methods in system
identification"
(University of Brescia)
1996-1997 "The Kalman filter: theory and applications"
(University of Brescia)
Other courses:
September 2016
"Scenario optimization: heuristics and certificate in
decision
making." (NASA Langley Research Center, Hampton)
October 2015 "Introduction to scenario decision-making."
(Texas A&M)
June 2015 "A course on scenario optimization." (NASA
Langley Research Center, Hampton)
Tutorial courses:
1990-1992 Identification and optimization:
tutorial classes (Politecnico di Milano)
1990-1992 Systems theory: tutorial classes (Politecnico di Milano)
1988-1989 Fundamentals of mathematics
(Politecnico di
Milano)
PhD students:
Maria Prandini
Thesis title: Adaptive Linear Quadratic Gaussian Control:
Optimality Analysis
and Robust Controller Design.
Andrea Lecchini
Thesis title: Virtual Reference Iterative Feedback Tuning (VRIFT):
a Direct
Method for the Iterative Feedback Tuning.
Simone Garatti
(co-supervised with Sergio Bittanti)
Thesis title: Assessing the Model Quality in System Identification:
the
Asymptotic Theory Revisited and Application to Adaptive Control.
Marco Lovera
(partial supervision)
Subject: Estimation of process capability indices under non normal
distribution assumption.
Matteo Pardo (partial
supervision)
Subject: Iterative Methods for Controller Design.
Ivan Serina (partial
supervision)
Subject: Nonlinear Function Approximation from Noisy Data.
Andrea Ridolfi (partial
supervision)
Subject: Consistency of Bootstrap Estimates of Model Uncertainty in
Subspace
Identification Methods.
Marco Dalai (partial
supervision)
Subject: Guaranteed confidence regions for nonlinear systems
through the
LSCR (Leave out Sign Dominant Confidence Regions) approach.
Algo Care'
Thesis title: Data-Based Optimization for Applications to
Decision-Making,
Identification and Control - A Study of Coverage Properties.
(winner of the 2016 stochastic programming student paper prize)
Martina Favaro
Diego Lorenzi
Graduation
committees:
- University of Toulouse,
France
- Universitat Politecnica
de Valencia
- TU Eindhoven
- University of Twente
- Ecole Polytechnique Federale de Lausanne
- National University of Singapore - NUS
Undergraduate textbooks:
S. Bittanti e M. Campi. Raccolta di problemi di identificazione,
filtraggio,
controllo adattativo. Pitagora Editrice, Bologna, 1995 (in Italian).
M. Campi. Raccolta di temi d'esame di fondamenti di automatica con
soluzione. Casa Editrice
Snoopy, Brescia, 1999 (in Italian).
-- project MURST
40% "System identification, control and signal processing"
(1989-1996)
-- special project CNR "Algorithms and architectures for
identification and adaptive control" (1991-1992)
-- project MURST 60% "Adaptive and robust control of
dynamical systems" (1993-1994)
-- European project Human Capital Mobility "Nonlinear and
adaptive control" (1994-1996)
-- European project Human Capital Mobility "System
modelling
and identification" (1994-1996)
-- project MURST 60% "Adaptive identification, prediction
and
control" (1995-1997)
-- NATO project Collaborative Research Grant "Adaptive
control in an uncertain environment" (1997-1998)
-- co-financed project MURST "New methods for
identification
and adaptive control of industrial systems" (1997 - 2002)
-- co-financed project MURST "Design criteria for dental
implants optimized with respect to bone-implant biomechanical interface
stability"
(1998 - 2000)
-- project MURST 60% "Adaptive and robust control
systems" (1998 - 2000)
-- co-financed project MURST "Application of the
microwave
technology to physico-chemical processing
involving
solids" (1999 - 2002)
-- European project Research Training Network "Nonlinear
and
adaptive control" (2000 - )
-- project MURST 60% "System identification techniques
based
on learning theory" (2001 - 2002)
-- European IST project "Distributed control and
stochastic analysis of hybrid systems supporting safety critical
real-time
systems design" (HYBRIDGE)
(2002 -2005)
-- project MURST 60% "Robust control: design through
probabilistic techniques for uncertain convex optimization" (2003)
-- co-financed project MURST "Identification and adaptive
control of industrial systems" (2003 - )
-- project MURST 60% "Robust convex optimization:
randomized
methods and applications to control and system identification"
(2004-2005)
-- project MURST 60% "Identification and contro
through robust convex optimization" (2006)
Plenary and Key-note presentations
--
Plenary speaker at the 9th Symposium on Conformal and probabilistic
Prediction with Applications - COPA 2020,
Verona, 9-11 September, 2020.
Title: "Risk and Complexity in
Prediction
Problems". VIDEO
-- Rudolf E. Kalman dintinguished
lecturer, Budapest, March 18, 2019. (http://files.elearning.sztaki.hu/mta_sztaki/Rudolf_E_Kalman_Distinguished_Lecturer/02_Marco_C_Campi/start.html)
Title: "Risk and complexity: a new
theory
to control uncertainty".
-- Key-note speaker at the 2nd
International Conference on Simulation Technology - SimTech 2018, Stuttgart, Germany, 26-28 March, 2018.
Title: "Optimization by
Simulation:
Heuristics and Certificates".
-- Plenary speaker at Optimization 2017, Lisbon, Portugal, September 6-8, 2017.
Title: "Scenario optimization: how far can we
trust
data-based decisions? ".
-- Plenary speaker at the 2017 IEEE Data Driven Control and
Learning Systems Conference - DDCLS'17, Chongqing,
China, May 26-27, 2017.
Title: "Virtual Reference Feedback
Tuning (VRFT): a Handy Approach to Tune Industrial Controllers".
-- Key-note speaker at the International Conference on Control,
Decision and Information Theory - CODIT 2017, Barcelona, Spain, 5-7 April, 2017.
Title: "Wait-and-Judge in Scenario
Optimizaiton".
-- Invited course at NIA/NASA, Hampton, VA,
September, 2016.
Title: "Scenario Optimization:
Heuristics and Certificates in Decision Making".
-- Invited course at NIA/NASA, Hampton, VA, June,
2015.
Title: "Introduction to the
scenario
approach".
-- Semi-plenary speaker at the European Control Conference ECC13, Zurich, Switzerland, 17-19 July, 2013. SLIDES VIDEO
Title: "The scenario apporach
to stochastic optimization".
-- Plenary speaker at the Symposium on
System Identification SYSID 2012,
Brussels, Belgium, 11-13 July, 2012.
Title: "Certified system identification
-
towards distribution-free results".
-- Distinguished lecturer at CCDC 2012
(Chinese Control and Decision Conference), Taiyuan, China, 23-25 May,
2012. SLIDES
Title: "Risk-return Trade-off in
decision-making processes".
-- Plenary speaker at CDC 2010 (Conference on Decision and Control), Atlanta, Georgia,
15-17 December,
2010. SLIDES
Title: "Randomization in systems and
control: a change of perspective".
further
reading related to CDC talk:
1.
M.C. Campi. Why is
resorting to fate wise? A critical look at randomized algorithms in
systems and
control.
European
Journal of Control, 5:419-430,
2010.
2. M.C. Campi. discussion on paper: "Why is
resorting to fate wise? A critical look at randomized algorithms in
systems and
control" - Final comments
by the author. European Journal of
Control, 5:440-441,
2010.
-- Key-note speaker at
the CWI Symposium
on Large-Scale and Uncertain Systems,
Amsterdam, Holland, 12 November, 2010.
Title: "Risk-Return Trade-Off in
Optimization".
-- Key-note speaker at CMS 2010 (International Conference on Computational Management
Science), Vienna,
Austra, 28-30 July, 2010.
Title: "Uncertain Optimization and
Risk-Return Tradeoff through the Scenario Approach".
-- Semi-plenary speaker at MTNS 2010 (19th International Symposium on Mathematical Theory of
Networks and
Systems), Budapest, Hungary, 5-9 July, 2010.
Title: "Variable Robustness
Control: Principles and Algorithms". Slides.
-- Key-note speaker at the Seminar for
Advanced Industrial Control Applications (SAICA) 2007, Madrid, Spain, 5-6 November, 2007.
Title: "Tuning industrial controllers:
the
Virtual reference Feedback Tuning (VRFT) approach".
-- Invited speaker at the International
Conference on Modeling, Estimation and Control, A symposium in honor of Giorgio Picci on the
occasion of his sixty-fifth birthday, Venezia, Italy, 4-5 October, 2007.
Title: "How many experiments are needed
in
order to adapt?".
--
Graduate course at
the Departamento de Ingenieria
de Sistemas y Automatica, Universitat
Politecnica de Valencia, Valencia, Spain,
September, 2006.
Title:
"System identification
and the limits of learning from data" (notes)
-- Invited speaker at the CASY workshop on "Advances in Control Theory
and Applications", Bertinoro,
Italy, 22-26 May, 2006. (picture)
Title: "The scenario approach: robust
optimization in systems and control".
-- Pleanary speaker at the Colloquium on Optimization for Control, University of Sheffield, UK, 24 April, 2006.
Title: "The scenario approach to robust
control".
-- Semi-plenary speaker at the Symposium on System Identification
SYSID 2006, New
Castle, Australia, 29-31
March, 2006.
Title: "Identification with finitely many
data points: the LSCR approach".
Slides.
-- Invited speaker at the 14th ERNSI Workshop on System
Identification,
Louvain-la-Neuve,
Belgium, 19-21 September, 2005.
Title: "Guaranteed non-asymptotic
confidence regions in system identification"
-- Plenary speaker at the Conference MAS de la SMAI, Nancy, France, 6-8 September, 2004.
Title: "The Scenario Approach to Robust
Control - Randomized Solutions and Confidence Levels"
-- IEEE CSS Distinguished Lecturer speaker at the University
of
Kyoto, August, 2004.
Title: "Robust Convex Optimization - the
Scenario
Approach"
-- Plenary speaker at the Workshop "CMP'04: Multiple Participant
Decision Making", UTIA,
Prague, Czech Republic, 12-14 May, 2004.
(pictures: 1,
2, 3)
Title: "Decision Making in an Uncertain
Environment: the Scenario based Optimization Approach"
-- Post-graduate course at the Dept. of Electrical and
Electronics
Engineering, University of Melbourne, Melbourne, Australia,
October,
2002.
Title: "What can be learned from
data?"
-- Graduate course at the Dept. of Electrical and
Electronics
Engineering, Politecnico di
Milano,
Milano, Italy, April, 2002.
Title: "Statistical theory of learning
"
-- Plenary speaker at the 19th Benelux Meeting on
"Systems and Control", Mierlo, The
Netherlands, 1-3 March, 2000.
Title: "Probabilistic Robustness: A New
Approach to the Analysis and Synthesis of Uncertain Control
Systems"
-- Graduate course at the Dept. of Electrical and
Electronics
Engineering, University of Melbourne, Melbourne, Australia, Jenuary - February, 2000.
Title: "Data-based design of feedback
controllers: direct methods"
-- Plenary speaker at the 6th St. Petersburg Symposium
on
"Adaptive Systems Theory", St. Petersburg, Russia, 7-9 September,
1999.
Title: "Penalized identification methods
for self-tuning control"
-- Plenary speaker at the ERCIM Workshop on
"Systems
and Control", Budapest, Hugary, 6-8 Novembre 1995.
Title: "Stability and performance of
self-tuning control systems"
-- Invited speaker at the Nato
Advanced Study Institute "From Identification to Learning", Como,
Italy, 22 August- 2 September, 1994.
Title: "Mathematical tools in
probability
theory"
-- Invited speaker at the Workshop "From Data to Model", IIASA-Laxemburg, Austria, 24-28 June, 1991.
Title: "Tracking time-varying systems by
recursive least squares methods".
In evidence:
- FOUR 1-HOUR LESSONS TO BE INTRODUCED TO THE SCENARIO
APPROACH: video 1; video 2; video 3; video 4
new
monograph on the scenario approach.
- Plenary speaker at the 9th Symposium on
Conformal and probabilistic Prediction with Applications - COPA 2020, Verona, 9-11 September,
2020.
Title: "Risk and Complexity in Prediction Problems". VIDEO - Semi-plenary speaker at the European Control Conference ECC13, Zurich, Switzerland, 17-19
July, 2013. SLIDES VIDEO
- Slides from the Workshop "CMP'04: Multiple
Participant Decision Making", UTIA, Prague, Czech Republic,
12-14 May, 2004.
Invited plenary lecture: "Decision Making in an Uncertain Environment: the Scenario based Optimization Approach"
Virtual
Reference Feedback Tuning
Papers
M. C. Campi, A. Lecchini
and S.M. Savaresi.
Virtual Reference Feedback Tuning: a
Direct Method for the Design of Feedback Controllers.
Automatica, 38:1337-1346, 2002.
M.C. Campi and S.M. Savaresi.
Direct nonlinear control design: the
Virtual Reference Feedback Tuning (VRFT) approach.
IEEE Trans. on Automatic Control, AC-51:14-27, 2006.
M.C. Campi, A. Lecchini
and S.M. Savaresi.
An application of the virtual reference
feedback tuning method to a benchmark problem.
European Journal of Control, Special Issue on "Design and Optimisation of Restricted Complexity
Controllers",
1:66-76, 2003.
A. Lecchini, M.C. Campi and S.M. Savaresi.
Virtual Reference Feedback Tuning for two
degree of freedom controllers.
Int. J. Adapt. Control and Signal Process., invited paper for
the
Special Issue on "New Ideas in Recursive Estimation and stochastic
Adaptive Control", 16:355-371, 2002.
M.C. Campi and S. Savaresi.
Virtual reference feedback tuning
for nonlinear systems.
In Proc. 44th Conf. on Decision and Control, Seville, Spain, 6608-6613,
2005.
A. Lecchini, M.C. Campi and S.M Savaresi.
Sensitivity shaping via virtual
reference feedback tuning.
In Proc. 40th Conf. on Decision and Control, Orlando, pages 750-755,
2001.
A. Lecchini, M.C. Campi and S.M Savaresi.
Virtual reference feedback tuning for two
degree of freedom controllers.
European Control Conferece
ECC 2001, Porto, 2001.
A. Lecchini, M.C. Campi and S.M Savaresi.
Virtual reference feedback
tuning: a new framework for data-based design of PID and
linear controllers.
IFAC ALCOSP Workshop, Como, 2001.
M.C. Campi, A. Lecchini and S.M Savaresi.
Virtual reference feedback tuning (VRFT): a new
direct approach to the design of feedback controllers.
In Proc. 39th Conf. on Decision and Control, Sydney, pages 623-628,
2000.
M.C. Campi, A. Lecchini, M. Pardo and S. Savaresi.
Iterative feedback tuning:
a direct approach.
In Int. Symposium on the Mathematical Theory of Network and Systems,
Padova,
pages 719-722, 1998.
Guaranteed
regions for identified models
Papers
M.C. Campi and E. Weyer.
Guaranteed non-asymptotic confidence
regions in system identification.
Automatica, 41:1751-1764, 2005.
(the downloadable file is an extended version (with all proofs) of the Automatica paper)
M. Dalai, E. Weyer
and M.C. Campi.
Parameter Identification for Nonlinear Systems: Guaranteed
Confidence
regions through LSCR.
Automatica, in press.
M.C. Campi and E. Weyer.
Identification with finitely many
data points: the LSCR approach.
Semi-plenary presentation. In Proc. Symposium on System Identification,
SYSID
2006, New Castle, Australia, 2006.
M.C. Campi, Su Ki Ooi
and E. Weyer.
Non-asymptotic quality assessment of
generalised FIR models with periodic inputs.
Automatica, 40:2029-2041, 2004.
M.C. Campi and E. Weyer.
Finite sample properties of system
identification methods.
IEEE Trans. on Automatic Control, AC-47:1329-1334, 2002.
E. Weyer
and M.C. Campi.
Non-asymptotic confidence ellipsoids for the
least squares estimate.
Automatica, 38:1529-1547, 2002.
M.C. Campi and E. Weyer.
Non-asymptotic confidence sets for
input-output transfer functions.
In Proc. 45th Conf. on Decision and Control, San Diego, CA, USA,
157-162. 2006.
M. Dalai, E. Weyer
and M.C. Campi.
Parametric identification of
nonlinear systems: Guaranteed confidence regions.
In Proc. 44th Conf. on Decision and Control, Seville, Spain, 6418-6423,
2005.
E. Weyer and M.C. Campi.
Global non-asymptotic
confidence
sets for general linear models.
In Proc. 16th World IFAC Congress, Prague, 2005.
M.C. Campi and E. Weyer.
Non-asymptotic confidence sets for the parameters of ARMAX models.
In Proc. IFAC Workshop on Adaptation and Learning in Control and Signal
Processing (ALCOSP 2004), Yokohama, Japan, 2004.
M.C. Campi, E. Weyer
Estimation of confidence regions for the
parameters of ARMA models - guaranted
non-asymptotic
results.
In Proc. 42st Conf. on Decision and Control, Maui, Hawaii, USA , 2003.
Su Ki Ooi,
E. Weyer and M.C. Campi.
Finite sample quality assessment of system identification models of
irrigation channels.
2003 IEEE Conference on Control Applications, Istanbul, 2003.
M.C. Campi, Su
Ki Ooi and E. Weyer.
Non-asymptotic quality assessment of
generalised FIR models.
In Proc. 41st Conf. on Decision and Control, Las Vegas, USA, 2002.
M.C. Campi, E. Weyer
and Su Ki Ooi.
Nonasymptotic quality assessment of identified
models.
In Proc. 15th World IFAC Congress, Barcelona, 2002.
E. Weyer
and M.C. Campi.
Non-asymptotic confidence ellipsoids
for the least squares estimate.
In Proc. 39th Conf. on Decision and Control, Sydney, pages 2688-2693,
2000.
E. Weyer
and M.C. Campi.
Finite sample properties in system
identification methods.
In Proc. 38th Conf. on Decision and Control, Phoenix, 1999.