Closed-loop identification analysis of a DC servomechanism: A passive approach

This paper deals with the analysis of a closed-loop identification technique applied to a DC servomechanism from a passivity point of view. It is shown that the closed-loop system together with the identification algorithm can be divided into simpler subsystems easier to analyze and then, many properties related to passivity and stability can be deduced. Furthermore, it is shown that with this separation approach we have the freedom to select many controller structures, which could let to improve the performance of the identification algorithm, even in presence of perturbation signals.