Abstract: A method for recursively estimating at least one parameter of a first oscillating component represented by one or more sampled noisy input signal waveforms, the method comprising, recursively generating from the one or more sampled noisy input signals an estimate of a Z-transform component corresponding to the first oscillating component, forming, from the estimated Z-transform component, one or more signals providing an indication of one or more of a frequency and an amplitude of the Z-transform component; and estimating, from the one or more signals, one or more of a frequency, a relative phase and an amplitude parameter of the first oscillating component.