Identification of nonlinear systems by nonparametric approach with application to control of flexible robot manipulator

Abstract

We apply nonparametric techniques to identify nonlinear dynamic block-oriented systems of Hammerstein type. Hammerstein system consists of a memoryless nonlinear system followed by a dynamic, linear system. We introduce identification algorithms based on input-output observations for both systems and study their convergence and the rates. The performance of identification algorithms is validated in simulation studies. We apply Hammerstein system identification algorithms to identification of nonlinearities in a flexible robot manipulator.