Title :
Closed-loop system identification of LPV input-output models - application to an arm-driven inverted pendulum
Author :
Boonto, Sudchai ; Werner, Herbert
Author_Institution :
Inst. of Control Syst., Hamburg Univ. of Technol., Hamburg, Germany
Abstract :
In this paper we show the possibility to merge an MIMO LPV system identification with closed-loop output error identification algorithm. The purposed method is tested with an arm-driven inverted pendulum as an application. The experimental results shown a significant improvement of the LPV model over a linear time-invariant model with the same structure.
Keywords :
MIMO systems; closed loop systems; identification; nonlinear control systems; pendulums; LPV input-output models; MIMO LPV system identification; arm-driven inverted pendulum; closed-loop output error identification algorithm; closed-loop system identification; linear time-invariant model; Control systems; Cost function; Error correction; Least squares approximation; Linear regression; MIMO; Open loop systems; Predictive models; System identification; Testing;
Conference_Titel :
Decision and Control, 2008. CDC 2008. 47th IEEE Conference on
Conference_Location :
Cancun
Print_ISBN :
978-1-4244-3123-6
Electronic_ISBN :
0191-2216
DOI :
10.1109/CDC.2008.4739334
