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Frequency response estimation from closed-loop time-domain experimental data is investigated in this paper for normalized coprime factors (NCF) of a multiple-input-multiple-output (MIMO) plant. Based on a linear fractional transformation (LFT) representation for all the NCFs of plants internally stabilizable by a known controller, this estimation problem is converted into the open-loop nonparametric estimation of an inner transfer function matrix (TFM). An estimate is derived through constrained data-matching. It is proved that when the probing signals are periodic and the NCFs of the auxiliary plant are appropriately selected, the estimate is asymptotically unbiased and with a normal/complex normal distribution. It has been made clear that the estimation bias and the estimation variance are always finite. Computationally tractable procedures are suggested for choosing the desirable auxiliary TFMs.
Date of Publication: Jan. 2006