Open-loop algebraic identification method for a DC motor

In this paper we describe a procedure for parameters identification using an on-line, non asymptotic, algebraic identification method for a continuous time constant linear system. We make a specific application in the determination of the parameters of a DC servo motor model. The method is suitable for simultaneously identifying, both, the viscous friction coefficient and the inertia of the motor. It is found that the proposed method is computationally faster and more robust with respect to system noises than conventional methods. The identification algorithm has been verified by both simulation and experimental results. In addition, the identification of the coulomb's friction coefficient of the servo motor model has been investigated.