## Nonlinear model predictive control of a hydraulic excavator using Hammerstein models

- Frank A. Bender, Marcus Sonntag, Oliver Sawodny
- 2015 6th International Conference on Automation…
- 2015

In this paper the instrumental variable and recursive least square algorithm for identification of Hammerstein model consisting of the cascade connection of the static non-linearity followed by a LTI system, have been given. Here the linear dynamic block is described by generalised orthonormal basis and the static nonlinearity is formulated by a preload… (More)

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