Nonlinear Continuous-time System Identification by Linearization around
a Time-varying setpoint
Abstract
This paper handles the identification of nonlinear systems through
linear time-varying (LTV) approximation. The mathematical form of the
nonlinear system is unknown and regenerated through an experiment
followed by LTV and linear parameter-varying (LPV) estimation and
integration. By employing a well-designed experiment the linearized
model of the nonlinear system around a time-varying trajectory is
obtained. The result is an LTV approximation of the nonlinear system
around that trajectory. Having estimated the LTV model, an LPV model is
identified. It is shown that the parameter-varying (PV) coefficients of
this LPV model are partial derivatives of the nonlinear system evaluated
at the trajectory. In this paper, we will show that there exists a
relation between the LPV coefficients. This structural relation in the
LPV model ensures the integrability of PV coefficients for nonlinear
reconstruction. Indeed, the vector of the LPV coefficients is the
gradient of the nonlinear system evaluated at the trajectory. Then, the
nonlinear system is reconstructed through symbolic integration of the
coefficients. The proposed method is a data-driven scheme that can
reconstruct an estimate of the nonlinear system and its mathematical
form using input-output measurements. Finally, the use of the proposed
method is illustrated via a simulation example.