Szukana fraza: [Abstract = "It is demonstrated that a recently derived bound on the error convergence rate in \(open\-loop\) RLS estimation is applicable to RLS\-based stochastic self\-tuning control as well. This leads to a generalized upper bound for the estimation error convergence rate in stochastic self\-tuning control. The bound is shown to converge to zero under some assumptions regarding the model structure. The result is used to formulate two principles of self\-tuning stating sufficient conditions under which self\-tuning to stability and self\-tuning to parameter consistency may occur."]

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