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On the Use of a Multivariable Frequency Response Function Estimation Method for Closed Loop Identification
Linköpings universitet, Institutionen för systemteknik, Reglerteknik. Linköpings universitet, Tekniska högskolan.
Linköpings universitet, Institutionen för systemteknik, Reglerteknik. Linköpings universitet, Tekniska högskolan.
2004 (engelsk)Inngår i: Proceedings of the 43rd IEEE Conference on Decision and Control, 2004, s. 827-832Konferansepaper, Publicerat paper (Fagfellevurdert)
Abstract [en]

A method for estimating the Multivariable Frequency Response Function using closed loop data is studied. An approximate expression for the estimation error is derived, and using this expression some properties of the estimation error can be explained. Of particular interest is how the model quality is affected by the properties of the disturbances, the choice of excitation signal in the different input channels, the feedback and the properties of the system itself. The expression is illustrated by simulation data from an industrial robot.

sted, utgiver, år, opplag, sider
2004. s. 827-832
Emneord [en]
Closed loop identification, Multivariable system, Frequency response, Periodic disturbances, Excitation signal, Robotics
HSV kategori
Identifikatorer
URN: urn:nbn:se:liu:diva-22810DOI: 10.1109/CDC.2004.1428774Lokal ID: 2147ISBN: 0-7803-8682-5 (tryckt)OAI: oai:DiVA.org:liu-22810DiVA, id: diva2:243123
Konferanse
43rd IEEE Conference on Decision and Control, Paradise Island, Bahamas, December, 2004
Forskningsfinansiär
VinnovaTilgjengelig fra: 2009-10-07 Laget: 2009-10-07 Sist oppdatert: 2013-03-26

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