Uyanık, İsmailAnkaralı, M. M.Cowan, N. J.Saranlı, U.Morgül, ÖmerÖzbay, Hitay2016-02-082016-02-082015-061474-6670http://hdl.handle.net/11693/27863Date of Conference: 28-30 June 2015Conference name: 12th IFAC Workshop on Time Delay SystemsSystem 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.EnglishHarmonic transfer functionsLegged locomotionSystem identificationTime-delay estimationTime-periodic systemsDelay control systemsDynamicsFrequency domain analysisHarmonic analysisHarmonic functionsIdentification (control systems)Musculoskeletal systemReligious buildingsTime delayIdentification methodInput-output dynamicsLinear and time invariantsLocomotor behaviorTime delay estimationTime-periodic systemTransfer functionsConference Paper10.1016/j.ifacol.2015.09.394