M. Kosaka∗ and H. Uda∗
Identification, state-space model, step response, multi-input multi- output, mechanical system
In this paper, we propose a new deterministic off-line identification method that obtains a state-space model by using input and output data with steady state values. This method is composed of the method, M. Kosaka, K. Koizumi and H. Shibata Transactions of the Society of Instrument and Control Engineers 36(4), 2000, 319–327. zeroing the 0 ∼ N-tuple integral values of output error of single-input single-output transfer function model and Ho-Kalman’s method, H.P. Zeiger and A.J. Mc Ewen, IEEE Transactions on Automatic Control, AC 19-2, 1974, 153. The feature is that this method can identify by using step responses and, consequently, this is suitable for mechanical system identification in which noise and vibration are undesirable. Numerical simulations of multi-input multi-output system identification and experimental results are illustrated.
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