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On the Use of a Multivariable Frequency Response Function Estimation Method for Closed Loop Identification
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
2004 (English)In: Proceedings of the 43rd IEEE Conference on Decision and Control, 2004, 827-832 p.Conference paper, Published paper (Refereed)
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.

Place, publisher, year, edition, pages
2004. 827-832 p.
Keyword [en]
Closed loop identification, Multivariable system, Frequency response, Periodic disturbances, Excitation signal, Robotics
National Category
Engineering and Technology Control Engineering
Identifiers
URN: urn:nbn:se:liu:diva-22810DOI: 10.1109/CDC.2004.1428774Local ID: 2147ISBN: 0-7803-8682-5 (print)OAI: oai:DiVA.org:liu-22810DiVA: diva2:243123
Conference
43rd IEEE Conference on Decision and Control, Paradise Island, Bahamas, December, 2004
Funder
Vinnova
Available from: 2009-10-07 Created: 2009-10-07 Last updated: 2013-03-26

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Wernholt, ErikGunnarsson, Svante

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