Identification of Hammerstein models with cubic spline nonlinearities

This paper considers the use of cubic splines, instead of polynomials, to represent the static nonlinearities in block structured models. It introduces a system identification algorithm for the Hammerstein structure, a static nonlinearity followed by a linear filter, where cubic splines represent the static nonlinearity and the linear dynamics are modeled using a finite impulse response filter. The algorithm uses a separable least squares Levenberg-Marquardt optimization to identify Hammerstein cascades whose nonlinearities are modeled by either cubic splines or polynomials. These algorithms are compared in simulation, where the effects of variations in the input spectrum and distribution, and those of the measurement noise are examined. The two algorithms are used to fit Hammerstein models to stretch reflex electromyogram (EMG) data recorded from a spinal cord injured patient. The model with the cubic spline nonlinearity provides more accurate predictions of the reflex EMG than the polynomial based model, even in novel data.