Closed-loop system identification of LPV input-output models - application to an arm-driven inverted pendulum

In this paper we show the possibility to merge an MIMO LPV system identification with closed-loop output error identification algorithm. The purposed method is tested with an arm-driven inverted pendulum as an application. The experimental results shown a significant improvement of the LPV model over a linear time-invariant model with the same structure.

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