Parameter estimation using sensitivity points: tutorial andexperiment

Presented in this paper are a tutorial and experimental results for an iterative offline parameter identification scheme. The scheme utilizes the concept of sensitivity points to generate the gradient information that is used in the steepest descent estimation method. An experiment is conducted to identify parameters of a motor drive system in which the motor and load are connected by a compliant element. Estimated parameter values are also used in a position control experiment in which measured and designed responses are compared.