The Observable Formed Delta Operator Model to Simplify the Identification

Abstract

A delta operator model is usually applied to identification problems with short sampling periods. To identify the system, we have to compute the difference of the input and output data in discrete time and design a noise filter. In this paper, we propose the delta operator model with the observable canonical form. By using this model, we can easily estimate the parameters of the delta operator model without the difference of the input and output data. We derive the Cramer Rao inequality, which evaluates the performance for estimating parameters in the proposed model. Finally, we show the results of the identification experiments for an inertia rotor pendulum and a nonminimum phase system.