@TechReport{	  it:2010-025,
  author	= {Soma Tayamon and Torbj{\"o}rn Wigren},
  title		= {Recursive Identification and Scaling of Non-linear Systems
		  using Midpoint Numerical Integration},
  institution	= {Department of Information Technology, Uppsala University},
  department	= {Division of Systems and Control},
  year		= {2010},
  number	= {2010-025},
  month		= oct,
  abstract	= {A new recursive prediction error algorithm (RPEM) based on
		  a non- linear ordinary differential equation (ODE) model of
		  black-box state space form is presented. The selected model
		  is discretised by a midpoint inte- gration algorithm and
		  compared to an Euler forward algorithm. When the algorithm
		  is applied, scaling of the sampling time is used to improve
		  performance further. This affects the state vector, the
		  parameter vector and the Hessian. This impact is analysed
		  and described in three Theorems. Numerical examples are
		  provided to verify the theoretical results obtained.}
}