A method for on-line identification of mechanical system including nonlinear friction

This paper describes a practical method to identify mechanical parameters such as inertia and nonlinear friction. In the proposed method, mechanical system is represented as an inverse transfer function model and a low-pass filtered M-sequence is used as an input signal. The mechanical parameters are estimated by using steepest descent method with a dead band. From the results of numerical simulation and experiment, it is shown that the proposed method is very effective from practical point of view.