On the use of a multivariable frequency response estimation method for closed loop identification [Elektronisk resurs] / Erik Wernholt, Svante Gunnarsson.
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Wernholt, Erik, 1975- (författare)
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Gunnarsson, Svante, 1951- (författare)
- Publicerad: Linköping : Linköping University Electronic Press, 2004
- Engelska 8 s.
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Serie: LiTH-ISY-R, 1400-3902 ; 2600
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Läs hela texten (Sammanfattning och fulltext från Linköping University Electronic Press)
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- 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. Of particular interest is how the model quality is affected by the properties of the disturbances, the choice of excitation signal in the different input channels, the feedback and the properties of the system itself. The expression is illustrated by simulation data from an industrial robot.
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- Closed loop identification
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