Relaxation of conditions for convergence of dynamic regressor extension and mixing procedure

A generalization of the dynamic regressor extension and mixing procedure is proposed, which, unlike the original procedure, first, guarantees a reduction of the unknown parameter identification error if the requirement of regressor semi-finite excitation is met, and second, it ensures exponential convergence of the regression function (regressand) tracking error to zero when the regressor is semi-persistently exciting with a rank one or higher.