Application of the Hartley modulating functions method for the identification of the bilinear dynamics of a DC motor

This paper deals with the identification of the parameters of a continuous-time bilinear model of a DC motor. Specifically one of its main objectives is to demonstrate the feasibility of the Hartley modulating functions (HMF) method to the parameter identification of physically-based continuous-time model structures. A suited weighted least squares algorithm is developed. The proposed identification method results in satisfactory performance for additive noise corrupted output signals. Simulation studies are included to illustrate the concepts. The results of the identification of a separately excited DC motor and its load are presented