Abstract
System identification is a major preoccupation in most scientific disciplines. Its use in the robotics field has grown exponentially in recent years, due to the high interest shown to movement accuracy in the industry. Therefore, this article describes an application of system identification to a DC Servomotor widely used in robots. The aim of such an experiment is to reproduce a mathematical model of the system using experimental data. To collect the inputs and output and to meet the application requirements, we have built a microcontroller-based acquisition card. Afterward, we focused our study on identifying two model structures ARX and ARMAX of the system to test and compare their results based on validation criterions. Finally, the ARMAX model has reproduced a better adjustment to the measurements compared to ARX model.
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