Experimental design for identification of nonlinear systems with bounded uncertainties

Lu Lu, Bin Yao

Research output: Chapter in Book/Report/Conference proceedingConference contribution

8 Scopus citations


This paper proposes an experimental design method for the identification of a class of nonlinear systems. The lumped uncertainty of the nonlinear system is assumed to be bounded by known bound. A closed-loop identification scheme is adopted for this system. Specifically, the problem of designing an optimal input that minimizes the worst-case identification error is converted to a constrained optimal trajectory planning problem. After this optimal desired trajectory is obtained, adaptive robust control (ARC) algorithm is utilized to design the control input such that the output of the system tracks the desired optimal trajectory as closely as possible. LSE is used to give an estimate of the unknown parameters based on the filtered input and output of the controlled plant after the input designed above is applied. Extensive experiments verify that the proposed identification method gives better results than the traditional open loop identification.

Original languageEnglish (US)
Title of host publicationProceedings of the 2010 American Control Conference, ACC 2010
Number of pages6
StatePublished - 2010
Externally publishedYes
Event2010 American Control Conference, ACC 2010 - Baltimore, MD, United States
Duration: Jun 30 2010Jul 2 2010

Publication series

NameProceedings of the 2010 American Control Conference, ACC 2010


Other2010 American Control Conference, ACC 2010
Country/TerritoryUnited States
CityBaltimore, MD

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering


  • Adaptive robust control
  • Least squares estimation
  • Linear motor
  • Set-membership identification


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