% this function to esimate the system and contoller parameter by using
% Indirect self-tuning regulator contoller (model following)
% estimation is done by one of the linear estimation model
% The plant tansfer function :
% z^(-d) B(z^-1)
% Gp(z^-1) = --------------------------
% A(z^-1)
%
% The feedback controller tansfer function :
% S(z^-1)
% Gc(z^-1) = --------------------------
% R(z^-1)
% The feedforward controller tansfer function :
% T(z^-1)
% Gc(z^-1) = --------------------------
% R(z^-1)
Reference : Adaptive control by Astrom and adaptive control using matlab