Besides providing this classification ability, ESTIMACS supports an incremental estimation approach that breaks the estimation process into three stages, enclosed in a closed loop (see Figure 9).

Based on the estimation of a controlled plant's transfer function model, a method for the self-tuning of PID controllers in closed-loop system is proposed.

By introducing nonlinear damping term, it is proved that all signals in the closed-loop system are globally stable, and the tracking error and the parameter (estimation) error converge to zero.