Transfer function identification of a single flexible link via adaptive lattice filters

In this paper an approach using adaptive lattice filters (ALF) for the identification of the transfer function of a single flexible link is presented. The efficacy of the ALF in estimating the system's order is investigated in a series of experimental studies. The link's dynamics are altered through the introduction of various payloads, which result in a shift of its natural frequencies. Due to the effects of the finite sampling frequency, the corrupting noise and the limited duration of the experimental task, the identified order can vary through the experiment. The ALF estimates the system's order as well as the lattice parameters of the underlying model.