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On the Use of a Multivariable Frequency Response Identification Method in the Presence of Periodic Disturbances
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.
ABB Automation Technologies, Sweden.
ABB Automation Technologies, Sweden.
2003 (English)Report (Other academic)
Abstract [en]

A method for estimating the Multivariable Frequency Response Function (MFRF) is evaluated with respect to different disturbance properties and excitation signals. For the robot application, disturbances are mainly of a periodic nature, and Gaussian disturbance descriptions, which are often used in identification literature, do not give the same result. It is shown that the averaging technique over multiple periods does not work as well for periodic disturbances as for Gaussian disturbances. The chirp excitation signal might be a better choice than multisine to reduce the influence of periodic disturbances. The main reason for this is a varying operating point.

Place, publisher, year, edition, pages
Linköping: Linköping University Electronic Press, 2003. , 8 p.
Series
LiTH-ISY-R, ISSN 1400-3902 ; 2549
Keyword [en]
Identification, Robotics, Periodic disturbances, Excitation signals
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:liu:diva-55876ISRN: LiTH-ISY-R-2549OAI: oai:DiVA.org:liu-55876DiVA: diva2:316659
Available from: 2010-04-30 Created: 2010-04-30 Last updated: 2014-10-03Bibliographically approved

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Wernholt, ErikGunnarsson, Svante

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CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • oxford
  • 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
  • html
  • text
  • asciidoc
  • rtf