An alternative motivation for the indirect approach to closed-loop identification

@article{Ljung1999AnAM,
  title={An alternative motivation for the indirect approach to closed-loop identification},
  author={Lennart Ljung and Urban Forssell},
  journal={IEEE Trans. Automat. Contr.},
  year={1999},
  volume={44},
  pages={2206-2209}
}