“…(b) Use the Kalman filter, Eqns (15) to (21), to obtain the innovation, ( ) Z k , the innovation covariance, S(k), and the Kalman gain, K a (k). (c) Use the adaptive weighted recursive least square algorithm, Eqns (22) to (26) to estimate the unknown force, ( ) F k Ù . A flow chart of the computation for the application of the recursive input estimation algorithm is given in Fig.…”