DocumentCode
2827873
Title
Analysis of methods for multivariable frequency response function estimation in closed loop
Author
Wernholt, Erik ; Gunnarsson, Svante
Author_Institution
Linkopings Univ., Linkoping
fYear
2007
fDate
12-14 Dec. 2007
Firstpage
4881
Lastpage
4888
Abstract
Estimation methods for the multivariable frequency response function are analyzed, both in open and closed loop. Expressions for the bias and covariance are derived and the usefulness of these expressions is illustrated in simulations of an industrial robot where the different estimators are compared. The choice of estimator depends on the signal-to- noise ratio as well as the measurement setup and a bias-variance trade-off.
Keywords
closed loop systems; frequency response; industrial robots; closed loop; industrial robot; multivariable frequency response function estimation; open loop; signal-to-noise ratio; Data visualization; Discrete Fourier transforms; Frequency estimation; Frequency response; MIMO; Modal analysis; Open loop systems; Parametric statistics; Service robots; USA Councils;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 2007 46th IEEE Conference on
Conference_Location
New Orleans, LA
ISSN
0191-2216
Print_ISBN
978-1-4244-1497-0
Electronic_ISBN
0191-2216
Type
conf
DOI
10.1109/CDC.2007.4434780
Filename
4434780
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