Linear Time-Invariant Model Identification Algorithm for Mechatronic Systems Based on MIMO Frequency Response Data

• Published in: IEEE/ASME transactions on mechatronics Vol. 28; no. 2; pp. 703 - 714
• Main Authors: Shirvani, Hessam Kalbasi, Zeng, Jason Qi Chen, Bevers, Patrick, Oomen, Tom, Erkorkmaz, Kaan
• Format: Journal Article
• Language: English
• Published: New York IEEE 01.04.2023; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Algorithms; Data models; Delays; Frequency response; Invariants; Linear systems; Mathematical models; Mechatronics; MIMO communication; Motion control; Poles; precision machinery modeling; System identification; Transfer functions
• ISSN: 1083-4435; 1941-014X
• DOI: 10.1109/TMECH.2022.3207116

This article describes a new frequency- domain multi-input multioutput linear time-invariant (LTI) system identification algorithm for accurate model construction suitable for motion control systems. The proposed method can capture the effects of time-delay, lightly damped poles (structural resonances), as well as highly damped complex or real poles, and direct or derivative-like terms. The effectiveness of the algorithm has been validated using experimental frequency response measurements obtained from different types of motion control mechanisms. The proposed algorithm has also been compared with " tfest " and " modalfit " functions in MATLAB. Over these methods, nearly two orders of magnitude improvement is observed in the closeness of the model prediction, in terms of root mean square of the frequencywise modeling error.