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Error analysis in Bayesian identification of non-linear state-space models

In the last two decades, several methods based on sequential Monte Carlo (SMC) and Markov chain Monte Carlo (MCMC) have been proposed for Bayesian identification of stochastic non-linear state-space models (SSMs). It is well known that the performance of these simulation based identification methods depends on the numerical approximations used in their design. We propose the use of posterior Cramér-Rao lower bound (PCRLB) as a mean square error (MSE) bound. Using PCRLB, a systematic procedure is developed to analyse the estimates delivered by Bayesian identification methods in terms of bias, MSE, and efficiency. The efficacy and utility of the proposed approach is illustrated through a numerical example.