For differential equations with r parameters, 2r+1 experiments are enough for identification

Given a set of differential equations whose description involves unknown parameters, such as reaction constants in chemical kinetics, and supposing that one may at any time measure the values of some of the variables and possibly choose external inputs to help excite the system, how many experiments are sufficient in order to obtain all the information that is potentially available about the parameters? This paper shows that the best possible answer (assuming exact measurements) is 2r+1 experiments, where r is the number of parameters. Moreover, a generic set of such experiments suffices.