Title :
Analysis of methods for multivariable frequency response function estimation in closed loop
Author :
Wernholt, Erik ; Gunnarsson, Svante
Author_Institution :
Linkopings Univ., Linkoping
Abstract :
Estimation methods for the multivariable frequency response function are analyzed, both in open and closed loop. Expressions for the bias and covariance are derived and the usefulness of these expressions is illustrated in simulations of an industrial robot where the different estimators are compared. The choice of estimator depends on the signal-to- noise ratio as well as the measurement setup and a bias-variance trade-off.
Keywords :
closed loop systems; frequency response; industrial robots; closed loop; industrial robot; multivariable frequency response function estimation; open loop; signal-to-noise ratio; Data visualization; Discrete Fourier transforms; Frequency estimation; Frequency response; MIMO; Modal analysis; Open loop systems; Parametric statistics; Service robots; USA Councils;
Conference_Titel :
Decision and Control, 2007 46th IEEE Conference on
Conference_Location :
New Orleans, LA
Print_ISBN :
978-1-4244-1497-0
Electronic_ISBN :
0191-2216
DOI :
10.1109/CDC.2007.4434780
