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On the Use of a Multivariable Frequency Response 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)Report (Other academic)
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
Linköping: Linköping University Electronic Press, 2004. , 8 p.
Series
LiTH-ISY-R, ISSN 1400-3902 ; 2600
Keyword [en]
Closed loop identification, Multivariable system, Frequency response, Periodic disturbances, Excitation signal, Robotics
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:liu:diva-55984ISRN: LiTH-ISY-R-2600OAI: oai:DiVA.org:liu-55984DiVA: diva2:316751
Funder
Vinnova
Available from: 2010-04-30 Created: 2010-04-30 Last updated: 2014-10-08Bibliographically approved

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Wernholt, ErikGunnarsson, Svante

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CiteExportLink to record
Permanent link

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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