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      Independent estimation of input and measurement delays for a hybrid vertical spring-mass-damper via harmonic transfer functions

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      Author
      Uyanık, İsmail
      Ankaralı, M. M.
      Cowan, N. J.
      Saranlı, U.
      Morgül, Ömer
      Özbay, Hitay
      Date
      2015-06
      Source Title
      IFAC Proceedings Volumes (IFAC-PapersOnline)
      Print ISSN
      1474-6670
      Publisher
      IFAC
      Pages
      298 - 303
      Language
      English
      Type
      Conference Paper
      Item Usage Stats
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      101
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      Abstract
      System identification of rhythmic locomotor systems is challenging due to the time-varying nature of their dynamics. Even though important aspects of these systems can be captured via explicit mechanics-based models, it is unclear how accurate such models can be while still being analytically tractable. An alternative approach for rhythmic locomotor systems is the use of data-driven system identification in the frequency domain via harmonic transfer functions (HTFs). To this end, the input-output dynamics of a locomotor behavior can be linearized around a stable limit cycle, yielding a linear, time-periodic system. However, few if any model-based or data-driven identification methods for time-periodic systems address the problem of input and measurement delays in the system. In this paper, we focus on data-driven system identification for a simple mechanical system and analyze its dynamics in the presence of input and measurement delays using HTFs. By exploiting the way input delays are modulated by the periodic dynamics, our results enable the separate, independent estimation of input and measurement delays, which would be indistinguishable were the system linear and time invariant. © 2015, IFAG.
      Keywords
      Harmonic transfer functions
      Legged locomotion
      System identification
      Time-delay estimation
      Time-periodic systems
      Delay control systems
      Dynamics
      Frequency domain analysis
      Harmonic analysis
      Harmonic functions
      Identification (control systems)
      Musculoskeletal system
      Religious buildings
      Time delay
      Identification method
      Input-output dynamics
      Linear and time invariants
      Locomotor behavior
      Time delay estimation
      Time-periodic system
      Transfer functions
      Permalink
      http://hdl.handle.net/11693/27863
      Published Version (Please cite this version)
      http://dx.doi.org/10.1016/j.ifacol.2015.09.394
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      • Department of Electrical and Electronics Engineering 3524
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