DocumentCode
434670
Title
On the use of a multivariable frequency response estimation method for closed loop identification
Author
Wernholt, Erik ; Gunnarsson, Svante
Author_Institution
Dept. of Electr. Eng., Linkoping Univ., Sweden
Volume
1
fYear
2004
fDate
17-17 Dec. 2004
Firstpage
827
Abstract
A method for estimating the multivariable frequency response function using closed loop data is studied. An approximate expression for the estimation error is derived, and using this expression some properties of the estimation error can be explained. The properties of the disturbances, the choice of excitation signal in the different input channels, the feedback, and the properties of the system itself affect the model quality. The expression is illustrated by simulation data from an industrial robot.
Keywords
closed loop systems; error analysis; frequency response; identification; industrial robots; multivariable control systems; closed loop data; closed loop identification; estimation error; industrial robot; multivariable frequency response estimation method; Analytical models; Books; Electrical equipment industry; Estimation error; Frequency estimation; Frequency response; Output feedback; Production; Service robots; System identification;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 2004. CDC. 43rd IEEE Conference on
Conference_Location
Nassau
ISSN
0191-2216
Print_ISBN
0-7803-8682-5
Type
conf
DOI
10.1109/CDC.2004.1428774
Filename
1428774
Link To Document