MIMO state-space model identification using step responses

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[Abstract] In this paper, we propose a deterministic off-line identification method [1] that obtains a state-space model by using input and output data with steady state values. The method is composed of the method [2] zeroing the 0～N-tuple integral values of output error of single-input single-output transfer function model and Ho-Kalman's method [3]. The method has an assumption that plant system matrix A satisfies |A|＜1 because the method utilizes the Taylor series expansion of the plant. We prove that the method can be applied to plants without the assumption |A|＜1. The feature is that the method can identify by using step responses, the derived state-space model is emphasized in low frequency range and, consequently, this is suitable for a mechanical system identification in which noise and vibration are undesirable. Numerical simulations of multi-input multi-output system identification are illustrated.

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