Physical parameters estimation of the nonlinear continuous-time dynamics of a DC motor using Hartley modulating functions method

Physical parameters of the nonlinear continuous-time dynamics of a DC-motor and load are identified from available samples of input and noise-corrupted output signal measurements applying the Hartley modulating functions (HMF) method. The continuous-time dynamic equations of the DC-motor and load are replaced by Hartley spectrum equations or the so-called HMF-model. These Hartley spectrum equations are then approximated using fast algorithms of Hartley transformations and the frequency weighted least squares (FWLS) method is used to identify the physical parameters of the model. A root mean square (RMS) normalized error criterion is applied to measure the bias of the estimates for different levels of the noise-to-signal ratio (NSR). Simulation results suggest that this scheme is effective for physical parameters estimation of a nonlinear continuous-time systems.