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Estimation of physical parameters for dynamic processes with application to an industrial robot

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1 Author(s)
Isermann, Rolf ; Inst. of Control Eng., Tech. Univ. of Darmstadt, Germany

The unknown parameters of physical laws which govern the dynamics of processes can be obtained from measured input and output signals in a two-step procedure. First, the parameters of differential equations are estimated and then the physical parameters are calculated based on algebraic relations. After considering the model structure a suitable parameter estimation method for continuous-time signals is described, and the influence of a priori known parameters on the convergence is shown. The determination of physical parameters is then considered based on nonlinear algebraic relations known from theoretical modeling

Published in:

Electrotechnical Conference, 1991. Proceedings., 6th Mediterranean

Date of Conference:

22-24 May 1991