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This note proposes a control-oriented identification framework for a class of linear parameter varying systems that takes into account both the dependence of part of the model on time-varying parameters as well as the possible existence of a nonparametric component. The main results of the note show that the problems of obtaining and validating a model for these systems can be recast as linear matrix inequality feasibility problems. Moreover, as the information is completed, the algorithm is shown to converge in the l2-induced topology to the actual plant. Additional results include deterministic bounds on the identification error. These results are illustrated with a practical example arising in the context of active vision.
Date of Publication: Sept. 2003