ar) initialization step.

  As last step, the Levenberg-Marquardt algorithm is used again to
  optimize the parameters of the linear part and the static
  nonlinearity as a whole. Therefore, it is necessary to parametrise
  the matrices of the linear part. The output normal form [2]
  parameterisation is used.

  The Jacobian is computed analytically, for the nonlinear part, and
  numerically, for the linear part.

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<A name="References"><B><FONT SIZE="+1">References</FONT></B></A>
<PRE>
  [1] Kelley, 