A New Parameter Identification Algorithm for a Class of Second Order Nonlinear Systems: An On-line Closed-loop Approach

  • Roger Miranda-ColoradoEmail author
Regular Papers Control Theory and Applications


This paper presents a novel on-line closed-loop parameter identification algorithm for second order nonlinear systems. Parameter convergence of the proposed methodology is ensured by means of a rigorous Lyapunov-based analysis. The estimated parameters are obtained using the actual and an estimation system. Algebraic techniques are applied for estimating velocity and acceleration signals, which are required in the proposed algorithm. A comparative analysis allows assessing the performance of the new parameter identification algorithm with respect to on-line and off-line least squares algorithms. Numerical simulations indicate that the proposed methodology allows estimating different types of non-linearities, converges faster than other methodologies, is robust against disturbances, outperforms on-line techniques, and provides similar estimates as an off-line technique, but without requiring any type of data pre-processing.


Algebraic velocity and acceleration estimation least squares parameter identification persistent excitation second order nonlinear system 


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© Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers and Springer-Verlag GmbH Germany, part of Springer Nature 2018

Authors and Affiliations

  1. 1.CONACyT-Instituto Politécnico Nacional-CITEDINueva Tijuana, Tijuana, Baja CaliforniaMéxico

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