Conference Publications

[190290]

Title: Closed-loop identification of LPV models using cubic splines with application to an arm-driven inverted pendulum.

Written by: Boonto, S. and Werner, H.

in: <em>Proceedings of the 2010 American Control Conference</em>. (2010).

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on pages: 3100--3105

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Publisher: IEEE:

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ISBN: 978-1-4244-7427-1

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DOI: 10.1109/ACC.2010.5531139

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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