“…Let N be the number of input u(k) and output y(k) measurements available from the process. From the state-space representation of the orthonormal basis, the vector l(k) in (19) can be calculated for k = 1, …, N. Then, using a set of available I/O measurements and considering an exact representation of the polytope generated by S, one obtains the following: Based on the definition of the set S in (26), the bounds of the uncertain parameters c(ε) can be calculated using different robust identification algorithms found in the literature (Milanese and Belforte, 1982;Mo and Norton, 1990;da Silva, 1995;Akçay and At, 2006). The computation of the polytope generated by S can become complicated as the number N of measurements increases.…”