On the use of a multivariable frequency response estimation method for closed loop identification

Proceedings of the IEEE Conference on Decision and Control

Volumn 1, Issue , 2004, Pages 827-832

  Wernholt, Erik ^a   Gunnarsson, Svante ^a  

^a LINKÖPING UNIVERSITY   (Sweden)

Author keywords

[No Author keywords available]

Indexed keywords

APPROXIMATION THEORY; CLOSED LOOP CONTROL SYSTEMS; COMPUTER SIMULATION; FEEDBACK CONTROL; FREQUENCY RESPONSE; IDENTIFICATION (CONTROL SYSTEMS); MONTE CARLO METHODS; PARAMETER ESTIMATION; TIME DOMAIN ANALYSIS;

CLOSED LOOP IDENTIFICATION; ESTIMATION ERRORS; EXCITATION SIGNALS; SIMULATION DATA;

MULTIVARIABLE CONTROL SYSTEMS;

EID: 14344257283     PISSN: 07431546     EISSN: 25762370     Source Type: Conference Proceeding    
DOI: 10.1109/cdc.2004.1428774     Document Type: Conference Paper

References (13)

1. L. Ljung, System Identification: Theory for the User, 2nd ed. Upper Saddle River, New Jersey, USA: Prentice Hall, 1999.
2. R. Pintelon and J. Schoukens, System identification: a frequency domain approach. New York: IEEE Press, 2001.
3. P. Guillaume, R. Pintelon, and J. Schoukens, "Accurate estimation of multivariable frequency response functions," in Proceedings of the 13th IFAC Triennial World Congress, San Francisco, 1996, pp. 423-428.
4. K. Kozlowski, Modelling and identification in robotics, ser. Advances in Industrial Control. London: Springer, 1998.
5. E. Berglund and G. Hovland, "Automatic elasticity tuning of industrial robot manipulators," in Proceedings of the 39th IEEE Conference on Decision and Control, Sydney, Australia, Dec. 2000, pp. 5091-5096.
6. F. Khorrami, S. Jain, and A. Tzes, "Experimental results on adaptive nonlinear control and input preshaping for multi-link flexible manipulators," Automatica, vol. 31, no. 1, pp. 83-97, Jan. 1995.
7. R. Pintelon and J. Schoukens, "Measurement of frequency response functions using periodic excitations, corrupted by correlated input/output errors," IEEE Trans. Instrum. Meas., vol. 50, no. 6, pp. 1753-1760, Dec. 2001.
8. J. Schoukens, R. M. Pintelon, and Y. J. Rolain, "Broadband versus stepped sine FRF measurements," IEEE Trans. Instrum. Meas., vol. 49, no. 2, pp. 275-278, Apr. 2000.
9. E. V. der Ouderaa, J. Schoukens, and J. Renneboog, "Peak factor minimization using a time-frequency domain swapping algorithm," IEEE Trans. Instrum. Meas., vol. 37, no. 1, pp. 145-147, Mar. 1988.
10. D. Hanselman, "Resolver signal requirements for high accuracy resolver-to-digital conversion," IEEE Trans. Ind. Electron., vol. 37, no. 6, pp. 556-561, Dec. 1990.
11. E. Uddeholt, Identifiering och kompensering av motor- och resolver-rippel, Master thesis IR-RT-EX-9806, Dept. of Signals, Sensors & Systems, Royal Institute of Technology, SE-100 44 Stockholm, Sweden, 1998.
12. H.-J. Gutt, F. Scholl, and J. Blattner, "High precision servo drives with DSP-based torque ripple reduction," in Proceedings of IEEE AFRICON, 1996, vol. 2, Sep. 1996, pp. 632-637.
13. M. Aberger, "Effects of nonlinearities in black box identification of an industrial robot," Department of Electrical Engineering, Linköping University, SE-581 83 Linköping, Sweden, Tech. Rep. LiTH-ISY-R-2322, Dec 2000.