# Conference Publications

[176561] |

Title: Closed-Loop Identification of LPV Models Using Cubic Splines with Application to an Arm-Driven Inverted Pendulum. |

Written by: Boonto, Sudchai and Werner, Herbert |

in: <em>American Control Conference</em>. (2010). |

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on pages: 3100--3105 |

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URL: http://ieeexplore.ieee.org/ielx5/5512481/5530425/05531139.pdf?tp=&arnumber=5531139&isnumber=5530425 |

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**Note: **

**Abstract: **A method for the identification of MIMO input-output LPV models in closed-loop is proposed. The model is assumed to display both linear and non-linear behavior in which the latter is dependent on the scheduling parameters, and cubic splines are used to represent the non-linear dependence. For the estimation of both linear and non-linear parameters, the separable least square method is employed. The linear parameters are obtained by a least square identification algorithm, while the non-linear parameters are obtained using a recursive Levenberg-Marquardt algorithm. To identify such a model in closed-loop, we use a non-linear version of a two-step method. A neural network ARX model will be used in the first step for two purposes. Firstly, to generate noise-free input signal to get an unbiased model and secondly to generate noise-free scheduling signal for consistent identification. The proposed method is applied to an arm-driven inverted pendulum. The resulting model is compared with a linear time-invariant model, and with an LPV model that depends polynomially on the scheduling parameters. Experimental results indicate that the cubic spline model outperforms the other ones in terms of accuracy.�

[176561] |

Title: Closed-Loop Identification of LPV Models Using Cubic Splines with Application to an Arm-Driven Inverted Pendulum. |

Written by: Boonto, Sudchai and Werner, Herbert |

in: <em>American Control Conference</em>. (2010). |

Volume: Number: |

on pages: 3100--3105 |

Chapter: |

Editor: |

Publisher: |

Series: |

Address: |

Edition: |

ISBN: |

how published: |

Organization: |

School: |

Institution: |

Type: |

DOI: |

URL: http://ieeexplore.ieee.org/ielx5/5512481/5530425/05531139.pdf?tp=&arnumber=5531139&isnumber=5530425 |

ARXIVID: |

PMID: |

**Note: **

**Abstract: **A method for the identification of MIMO input-output LPV models in closed-loop is proposed. The model is assumed to display both linear and non-linear behavior in which the latter is dependent on the scheduling parameters, and cubic splines are used to represent the non-linear dependence. For the estimation of both linear and non-linear parameters, the separable least square method is employed. The linear parameters are obtained by a least square identification algorithm, while the non-linear parameters are obtained using a recursive Levenberg-Marquardt algorithm. To identify such a model in closed-loop, we use a non-linear version of a two-step method. A neural network ARX model will be used in the first step for two purposes. Firstly, to generate noise-free input signal to get an unbiased model and secondly to generate noise-free scheduling signal for consistent identification. The proposed method is applied to an arm-driven inverted pendulum. The resulting model is compared with a linear time-invariant model, and with an LPV model that depends polynomially on the scheduling parameters. Experimental results indicate that the cubic spline model outperforms the other ones in terms of accuracy.�