Identification of Continuous-Time Systems Using Instrumental Variables with Application to an Industrial Robot

A new method of constructing instrumental variables for identification is introduced. Its usefulness in the identification of continuous-time systems is investigated. The technique is then applied for modeling the arm of an industrial robot used for welding purposes. Results showed that the proposed method of using instrumental variables is computationally simple and at the same time gives better performance in the presence of measurement noise as compared to existing methods.