Modelling of Total System by Integrating Identified Models for Subsystems

Abstract

System identification is difficult when the object system is too unstable to allow open loop control. To solve this problem we propose a method in which the total system is divided into subsystems, identified models are built for the subsystems, and the subsystem models are integrated into a total model of the system. We evaluated this method by applying it to making the observer of a wheeled inverted pendulum.