The replacement in an implicit predictive adaptive controller of recursive least squares (RLS) identifiers with stochastic gradient (SG) identifiers is considered. By an ordinary differential equation analysis, local convergence properties of the new algorithm are investigated. The conclusions, supported by simulation results, are that, in contrast with the one-step-ahead self-tuning regulator, the convergence properties of the resulting adaptive controller deteriorate if RLS identifiers are replaced with SG identifiers.
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