Estimating time-varying parameters by the Kalman filter basedalgorithm: stability and convergence

Convergence and stability properties of the Kalman filter-based parameter estimator are established for linear stochastic time-varying regression models. The main features are: both the variances and sample path averages of the parameter tracking error are shown to be bounded; the regression vector includes both stochastic and deterministic signals, and no assumptions of stationarity or independence are requires; and the unknown parameters are only assumed to have bounded variations in an average sense