9 research outputs found
Maximum entropy properties of discrete-time first-order stable spline kernel
The first order stable spline (SS-1) kernel is used extensively in
regularized system identification. In particular, the stable spline estimator
models the impulse response as a zero-mean Gaussian process whose covariance is
given by the SS-1 kernel. In this paper, we discuss the maximum entropy
properties of this prior. In particular, we formulate the exact maximum entropy
problem solved by the SS-1 kernel without Gaussian and uniform sampling
assumptions. Under general sampling schemes, we also explicitly derive the
special structure underlying the SS-1 kernel (e.g. characterizing the
tridiagonal nature of its inverse), also giving to it a maximum entropy
covariance completion interpretation. Along the way similar maximum entropy
properties of the Wiener kernel are also given
Maximum Entropy Kernels for System Identification
A new nonparametric approach for system identification has been recently
proposed where the impulse response is modeled as the realization of a
zero-mean Gaussian process whose covariance (kernel) has to be estimated from
data. In this scheme, quality of the estimates crucially depends on the
parametrization of the covariance of the Gaussian process. A family of kernels
that have been shown to be particularly effective in the system identification
framework is the family of Diagonal/Correlated (DC) kernels. Maximum entropy
properties of a related family of kernels, the Tuned/Correlated (TC) kernels,
have been recently pointed out in the literature. In this paper we show that
maximum entropy properties indeed extend to the whole family of DC kernels. The
maximum entropy interpretation can be exploited in conjunction with results on
matrix completion problems in the graphical models literature to shed light on
the structure of the DC kernel. In particular, we prove that the DC kernel
admits a closed-form factorization, inverse and determinant. These results can
be exploited both to improve the numerical stability and to reduce the
computational complexity associated with the computation of the DC estimator.Comment: Extends results of 2014 IEEE MSC Conference Proceedings
(arXiv:1406.5706
Robust EM kernel-based methods for linear system identification
Recent developments in system identification have brought attention to
regularized kernel-based methods. This type of approach has been proven to
compare favorably with classic parametric methods. However, current
formulations are not robust with respect to outliers. In this paper, we
introduce a novel method to robustify kernel-based system identification
methods. To this end, we model the output measurement noise using random
variables with heavy-tailed probability density functions (pdfs), focusing on
the Laplacian and the Student's t distributions. Exploiting the representation
of these pdfs as scale mixtures of Gaussians, we cast our system identification
problem into a Gaussian process regression framework, which requires estimating
a number of hyperparameters of the data size order. To overcome this
difficulty, we design a new maximum a posteriori (MAP) estimator of the
hyperparameters, and solve the related optimization problem with a novel
iterative scheme based on the Expectation-Maximization (EM) method. In presence
of outliers, tests on simulated data and on a real system show a substantial
performance improvement compared to currently used kernel-based methods for
linear system identification.Comment: Accepted for publication in Automatic
Efficient Multidimensional Regularization for Volterra Series Estimation
This paper presents an efficient nonparametric time domain nonlinear system
identification method. It is shown how truncated Volterra series models can be
efficiently estimated without the need of long, transient-free measurements.
The method is a novel extension of the regularization methods that have been
developed for impulse response estimates of linear time invariant systems. To
avoid the excessive memory needs in case of long measurements or large number
of estimated parameters, a practical gradient-based estimation method is also
provided, leading to the same numerical results as the proposed Volterra
estimation method. Moreover, the transient effects in the simulated output are
removed by a special regularization method based on the novel ideas of
transient removal for Linear Time-Varying (LTV) systems. Combining the proposed
methodologies, the nonparametric Volterra models of the cascaded water tanks
benchmark are presented in this paper. The results for different scenarios
varying from a simple Finite Impulse Response (FIR) model to a 3rd degree
Volterra series with and without transient removal are compared and studied. It
is clear that the obtained models capture the system dynamics when tested on a
validation dataset, and their performance is comparable with the white-box
(physical) models
Design of nonlinear controllers through the virtual reference method and regularization
This work proposes a new extension for the nonlinear formulation of the data-driven control method known as the Nonlinear Virtual Reference Feedback Tuning. When the process to be controlled contains a significant quantity of noise, the standard Nonlinear VRFT approach – that uses the Least Squares method – yield estimates with poor statistical properties. These properties may lead the control system to undesirable closed loop performances and even instability. With the intention to improve these statistical properties and controller sparsity and hence, the system’s closed loop performance, this work proposes the use of â„“1 regularization on the nonlinear formulation of the VRFT method. Regularization is a component that has been extensively employed and researched in the Machine Learning and System Identification communities lately. Furthermore, this technique is appropriate to reduce the variance in the estimates. A detailed analysis of the noise effect on the estimate is made for the Nonlinear VRFT method. Finally, three different regularization methods, the third one proposed in this work, are compared to the standard Nonlinear VRFT.Este trabalho propõe uma nova extensão para a formulação não linear do método de controle orientado por dados conhecido como Método da Referência Virtual Não Linear, ou Nonlinear Virtual Reference Feedback Tuning – denominado aqui somente como VRFT. Quando o processo a ser controlado contém uma quantidade significativa de ruÃdo, a abordagem padrão do VRFT – que usa o método dos MÃnimos Quadrados – fornece estimativas com propriedades estatÃsticas pobres. Essas propriedades podem levar o sistema de controle a desempenhos indesejáveis em malha fechada. Com a intenção de melhorar essas propriedades estatÃstica, identificar um controlador simples em quantidade de parâmetros e melhorar o desempenho em malha fechada do sistema, este trabalho propõe o uso da regularização â„“1 na formulação não linear do método VRFT. A regularização é uma técnica que tem sido amplamente empregada e pesquisada nas comunidades de Aprendizagem de Máquina e Identificação de Sistemas ultimamente. Além disso, esta técnica é apropriada para reduzir a variância das estimativas. Uma análise detalhada do efeito do ruÃdo na estimativa é feita para o método VRFT não linear. Finalmente, três diferentes métodos de regularização, o terceiro proposto neste trabalho, são comparados com o VRFT
Implementation of Algorithms for Tuning Parameters in Regularized Least Squares Problems in System Identification
There has been recently a trend to study linear system identification with high order finite impulse response (FIR) models using the regularized least-squares approach. One key of this approach is to solve the hyper-parameter estimation problem that is usually nonconvex. Our goal here is to investigate implementation of algorithms for solving the hyper-parameter estimation problem that can deal with both large data sets and possibly ill-conditioned computations. In particular, a QR factorization based matrix-inversion-free algorithm is proposed to evaluate the cost function in an efficient and accurate way. It is also shown that the gradient and Hessian of the cost function can be computed based on the same QR factorization. Finally, the proposed algorithm and ideas are verified by Monte-Carlo simulations on a large data-bank of test systems and data sets