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A routine is described which uses the maximum-likelihood method to fit a discrete transfer-function model to a single-input single-output linear dynamic system. The algorithm is identical to the well known Astrom-Bohlin procedure.
Astrom, K.J., Bohlin, T.: `Numerical identification of linear dynamic systems from normal operating records', Proceedings of the 2nd IFAC symposium on the theory of self-adaptive control systems, 1965, Middx. Teddington, England.