Fast identification of Wiener-Hammerstein systems using discrete optimisation

A fast identification algorithm for Wiener-Hammerstein systems is proposed. The computational cost of separating the front and the back linear time-invariant (LTI) block dynamics is significantly improved by using discrete optimisation. The discrete optimisation is implemented as a genetic algorithm. Numerical results confirm the efficiency and accuracy of the proposed approach

On the calculation of the D-optimal multisine excitation power spectrum for broadband impedance spectroscopy measurements

The successful application of impedance spectroscopy in daily practice requires accurate measurements for modeling complex physiological or electrochemical phenomena in a single frequency or several frequencies at different (or simultaneous) time instants. Nowadays, two approaches are possible for frequency domain impedance spectroscopy measurements: (1) using the classical technique of frequency sweep and (2) using (non-)periodic broadband signals, i.e. multisine excitations. Both techniques share the common problem of how to design the experimental conditions, e.g. the excitation power spectrum, in order to achieve accuracy of maximum impedance model parameters from the impedance data modeling process. The original contribution of this paper is the calculation and design of the D-optimal multisine excitation power spectrum for measuring impedance systems modeled as 2R-1C equivalent electrical circuits. The extension of the results presented for more complex impedance models is also discussed. The influence of the multisine power spectrum on the accuracy of the impedance model parameters is analyzed based on the Fisher information matrix. Furthermore, the optimal measuring frequency range is given based on the properties of the covariance matrix. Finally, simulations and experimental results are provided to validate the theoretical aspects presented.Peer ReviewedPostprint (published version

Non-linear State-space Model Identification from Video Data using Deep Encoders

Identifying systems with high-dimensional inputs and outputs, such as systems measured by video streams, is a challenging problem with numerous applications in robotics, autonomous vehicles and medical imaging. In this paper, we propose a novel non-linear state-space identification method starting from high-dimensional input and output data. Multiple computational and conceptual advances are combined to handle the high-dimensional nature of the data. An encoder function, represented by a neural network, is introduced to learn a reconstructability map to estimate the model states from past inputs and outputs. This encoder function is jointly learned with the dynamics. Furthermore, multiple computational improvements, such as an improved reformulation of multiple shooting and batch optimization, are proposed to keep the computational time under control when dealing with high-dimensional and large datasets. We apply the proposed method to a video stream of a simulated environment of a controllable ball in a unit box. The simulation study shows low simulation error with excellent long term prediction for the obtained model using the proposed method.Comment: Submitted to SYSID 202

Deep Identification of Nonlinear Systems in Koopman Form

The present paper treats the identification of nonlinear dynamical systems using Koopman-based deep state-space encoders. Through this method, the usual drawback of needing to choose a dictionary of lifting functions a priori is circumvented. The encoder represents the lifting function to the space where the dynamics are linearly propagated using the Koopman operator. An input-affine formulation is considered for the lifted model structure and we address both full and partial state availability. The approach is implemented using the the deepSI toolbox in Python. To lower the computational need of the simulation error-based training, the data is split into subsections where multi-step prediction errors are calculated independently. This formulation allows for efficient batch optimization of the network parameters and, at the same time, excellent long term prediction capabilities of the obtained models. The performance of the approach is illustrated by nonlinear benchmark examples.Comment: Accepted to CDC 2021 (revised with reviewer feedback

Identification of the nonlinear steering dynamics of an autonomous vehicle

Automated driving applications require accurate vehicle specific models to precisely predict and control the motion dynamics. However, modern vehicles have a wide array of digital and mechatronic components that are difficult to model, manufactures do not disclose all details required for modelling and even existing models of subcomponents require coefficient estimation to match the specific characteristics of each vehicle and their change over time. Hence, it is attractive to use data-driven modelling to capture the relevant vehicle dynamics and synthesise model-based control solutions. In this paper, we address identification of the steering system of an autonomous car based on measured data. We show that the underlying dynamics are highly nonlinear and challenging to be captured, necessitating the use of data-driven methods that fuse the approximation capabilities of learning and the efficiency of dynamic system identification. We demonstrate that such a neural network based subspace-encoder method can successfully capture the underlying dynamics while other methods fall short to provide reliable results