Identification and control of electro-mechanical systems using state-dependent parameter estimation

@article{Janot2017IdentificationAC,
  title={Identification and control of electro-mechanical systems using state-dependent parameter estimation},
  author={Alexandre Janot and Peter C. Young and Maxime Gautier},
  journal={International Journal of Control},
  year={2017},
  volume={90},
  pages={643 - 660}
}
ABSTRACT This paper addresses the important topic of electro-mechanical systems identification with an application in robotics. The standard inverse dynamic identification model with least squares (IDIM-LS) method of identifying models for robotic systems is based on the use of a continuous-time inverse dynamic model whose parameters are identified from experimental data by linear LS estimation. The paper describes a new alternative but related approach that exploits the state-dependent… 

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