that, given knowledge of the CT multisine input signal and measured output samples, the exact computation of the input regressors is necessary and sufficient for a generically consistent estimate of the CT system;

-   we propose a computationally efficient algorithm for computing the regressors under the multisine case, and introduce an extension of the SRIVC algorithm for arbitrary CT inputs, which are not necessarily constructed through hold devices; and

-   we exemplify the consistency of the proposed estimator through extensive Monte Carlo simulations.

The remainder of this paper is organised as follows. The identification problem is formulated in Section \[sec2\]. Section \[sec3\] provides a description of the SRIVC estimator and its consistency properties. The proposed SRIVC-type method is presented and analysed in Section \[sec4\], and Section \[sec5\] illustrates this method with extensive numerical examples. Finally, conclusions are drawn in Section \[sec6\].

Problem formulation {#sec2}
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Consider a linear and time-invariant (LTI), causal, stable, proper, single-input single-output, CT system $$\label{eq1}
x(t) = \frac{B^*(p)}{A^*(p)} u(t), \notag$$ where $p$ is the Heaviside operator, i.e., $p g(t) := \text{d}g(t)/\text{d}t$, and the numerator and denominator polynomials are coprime and given by $$\begin{aligned}
B^*(p) &= b_0^* p^{m^*} + b_1^* p^{{m^*}-1} + \dots + b_{m^*}^*, \notag \\
