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Nonlinear system identification of a reaction wheel pendulum using subspace method

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2 Author(s)
Dapeng Luo ; Dept. of Ocean Eng., Florida Atlantic Univ., Dania, FL, USA ; Leonessa, A.

Experimental applications of nonlinear system identification algorithms to a reaction wheel pendulum are presented in this paper. In particular, the subspace instrumental variable identification algorithm proposed in [D. Luo and A. Leonessa, 2002] is applied to a nonlinear prediction model represented by a Hammerstein system with nonlinear feedbacks. The prediction performances are compared with the experimental results by performing an open loop subspace identification on a linear state-space prediction model. Some practical aspects on the nonlinear identification are discussed. Experimental results show the effectiveness of the SIVID algorithm on system model recovery.

Published in:

American Control Conference, 2003. Proceedings of the 2003  (Volume:6 )

Date of Conference:

4-6 June 2003