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8/9/2019 Introduction to System Identification (Uppsala University)
1/6
Disturbances
System
v(t)
y(t)u(t)
OutputInput
8/9/2019 Introduction to System Identification (Uppsala University)
2/6
8/9/2019 Introduction to System Identification (Uppsala University)
3/6
8/9/2019 Introduction to System Identification (Uppsala University)
4/6
8/9/2019 Introduction to System Identification (Uppsala University)
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℄
16 18 20 22 243
4
5
6
7OUTPUT #1
16 18 20 22 24
4
5
6
7 INPUT #1
0 5 10 15 20−0.05
0
0.05
0.1
0.15Impulse response estimate
lags0 5 10 15 20
−0.2
0
0.2
0.4
0.6
0.8
1Step response
Time (samples)
℄
℄
0 20 40 60 80 100−1.5
−1
−0.5
0
0.5
1
1.5Simulated (solid) and measured (dashed) output
−1 −0.5 0 0.5 1−1
−0.5
0
0.5
1OUTPUT # 1 INPUT # 1
8/9/2019 Introduction to System Identification (Uppsala University)
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℄
10−1
100
101
102
10−4
10−2
100
AMPLITUDE PLOT, input # 1 output # 1
10−1
100
101
102
−600
−400
−200
0PHASE PLOT, input # 1 output # 1
frequency (rad/sec)
p h a s e