“…The main reason of this increasing interest is that IV methods offer a similar performance to the extended Least Square (LS) methods or other Prediction Error Minimization (PEM) methods (see Ljung (2009), Rao and Garnier (2004)) and provide consistent results even for an imperfect noise structure which is the case in most practical applications. These approaches have been used in many different frameworks such as direct continuous-time (Garnier & Wang, 2008;Rao & Garnier, 2004), nonlinear (Laurain, Gilson, Garnier, & Young, 2008) or closed-loop identification (Gilson, Garnier, Young, & Van den Hof, 2009;Gilson & Van den Hof, 2005) and lead to optimal estimates in the LTI linear case if the system belongs to the model set defined.…”