Linear Time-Invariant Model Identification Algorithm for Mechatronic Systems Based on MIMO Frequency Response Data

This article describes a new frequency-domain multi-input multioutput linear time-invariant (LTI) system identification algorithm for accurate model construction suitable for motion control systems. The proposed method can capture the effects of time-delay, lightly damped poles (structural resonances), as well as highly damped complex or real poles, and direct or derivative-like terms. The effectiveness of the algorithm has been validated using experimental frequency response measurements obtained from different types of motion control mechanisms. The proposed algorithm has also been compared with " tfest " and " modalfit " functions in MATLAB. Over these methods, nearly two orders of magnitude improvement is observed in the closeness of the model prediction, in terms of root mean square of the frequencywise modeling error.