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Comparing Different Approaches to Model Error Modeling in Robust Identification (Revised version)
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.
University of Siena, Italy.
2001 (English)Report (Other academic)
Abstract [en]

Identification for robust control must deliver not only a nominal model, but also a reliable estimate of the uncertainty associated with the model. This paper addresses recent approaches to robust identification, that aim at dealing with contributions from the two main uncertainty sources: unmodeled dynamics and noise affecting the data. In particular, non-stationary Stochastic Embedding, Model Error Modeling based on prediction error methods and Set Membership Identification are considered. Moreover, we show how Set Membership Identification can be embedded into a Model Error Modeling framework. Model validation issues are easily addressed in the proposed framework. A discussion of asymptotic properties of all methods is presented. For all three methods, uncertainty is evaluated in terms of the frequency response, so that it can be handled by H8 control techniques. An example, where a nontrivial undermodeling is ensured by the presence of a nonlinearity in the system generating the data, is presented to compare these methods.

Place, publisher, year, edition, pages
Linköping: Linköping University Electronic Press, 2001. , 33 p.
Series
LiTH-ISY-R, ISSN 1400-3902 ; 2353
Keyword [en]
identication for robust control, model error modeling, unmodeled dynamics, model validation, set membership estimation, stochastic embedding.
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:liu:diva-55784ISRN: LiTH-ISY-R-2353OAI: oai:DiVA.org:liu-55784DiVA: diva2:316547
Available from: 2010-04-30 Created: 2010-04-30 Last updated: 2014-10-03Bibliographically approved

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Ljung, Lennart

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CiteExportLink to record
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Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
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  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
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