function [sysd,sys,err] = ID(Y,U,Ts)
%
%基于递推最小二乘法的参数辨识程序
%仅针对二阶系统:)
%出处:http://blog.sina.com.cn/xianfa110
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%Inputs:
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%Y = nX1 vector of your model output
%U = nX1 vector of your model input
%Ts = sample time
%
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%Outputs:
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%sysd = discrete-time transfer function identified
%sys = continuous-time transfer function identified
%err = error
%
if nargi