Välkommen till KTH - Automatic Control
Välkommen till KTH - Automatic Control
Välkommen till KTH - Automatic Control
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On Optimal Input Design in System<br />
Identification for <strong>Control</strong><br />
Bo Wahlberg & Håkan Hjalmarsson<br />
ACCESS and <strong>Automatic</strong> <strong>Control</strong> Lab<br />
<strong>KTH</strong> Royal Institute of Technology,<br />
Stockholm, Sweden<br />
*Joint work with Mariette Annergren,<br />
Christian Larsson and Cristian Rojas<br />
1
Motivation<br />
2
How to Specify Performance?<br />
3
Typical Example<br />
4
Finite Impulse Response Model<br />
5
<strong>Control</strong> FIR Example<br />
6
P-control FIR Example<br />
7
SI/Parameter Estimation in Two Slides<br />
8
Key Result<br />
9
Example: FIR Estimation<br />
10
Idea<br />
12
Classical Excitation Design Methods<br />
13
Instead: Merge SI with Application!<br />
SI<br />
Appl<br />
14
Modern Approach<br />
15
FIR Example, cont.<br />
16
FIR Example, cont<br />
17
FIR Example<br />
18
Frequency Response Estimation<br />
19
Alternative Formulation<br />
20
Analytic Solution for n=2<br />
21
Application Set Approach<br />
23
What about OE models (CDC 2010)?<br />
24
Optimal input design problem (SDP)<br />
25
Time Domain Data<br />
26
Example: Markov Chain Input<br />
27
Explore Adaptivity in Input Design!<br />
28
Conclusions<br />
29
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