Identification of MIMO Hammerstein systems with nonlinear feedback

In this paper we present a general identification framework for a particular class of Multi-Input Multi-Output (MIMO) discrete time nonlinear dynamic systems containing the cascade of a linear dynamic system with static nonlinearities at both the input and feedback loop. Linearly parameterized decompositions of the static nonlinearities are introduced and a Subspace Instrumental Variable identification method is used for the closed-loop system model recovery. Finally, a numerical example is presented to verify the proposed algorithm.