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
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;
Conference_Titel :
Decision and Control, 2004. CDC. 43rd IEEE Conference on
Conference_Location :
Nassau
Print_ISBN :
0-7803-8682-5
DOI :
10.1109/CDC.2004.1428774
