Experiment designs for control-oriented MIMO identification

A4 Conference proceedings

Internal Authors/Editors

Publication Details

List of Authors: Kurt-Erik Häggblom, Ramkrishna Ghosh
Editors: Sirkka-Liisa Jämsä-Jounela
Place: Helsinki
Publication year: 2015
Publisher: Suomen Automaatioseura ry / Finnish Society of Automation
Book title: Automaatio XXI: Internetin teollinen vallankumous - älykkäistä laitteista verkottuneeseen älyyn
Title of series: SAS julkaisusarja
Number in series: 44
ISBN: 978–952-5183-46-7
ISSN: 1455-6502


In this paper, guidelines for designing inputs for control-oriented identification of multivariable systems are given. The information needed for design of inputs such as double rectangular pulses, pseudo-random sequences (PRBS), and multi-sinusoidal signals can be obtained from a simple step test. Such a step test also gives accurate information about the directionality properties of the system. It is shown how this information can be used to design input signals as well as directional inputs that explicitly excite the various gain directions of the system. By such excitations, small gains and fast dynamics can be better identified than by standard, non-directional, methods. If the identified model is to be used for control design, it is important that such properties are included in the model. The design techniques are illustrated by simulations on an ill-conditioned, 3-input, 3-output system. In addition to output noise, low-frequency input disturbances are added to make the identification task realistic with regard to real-world applications.


Input design, Integral controllability, Multivariable systems, System identification


Last updated on 2020-30-03 at 07:30