Haber, R.

Keviczky, L.

English

Periodica Polytechnica (Budapest University of Technology and Economics)

THE IDENTIFICATION OF THE DISCRETE. TIME HAMMERSTEIN MODEL By R. HABER and L. KEYICZKY Department of Automation. Technical university Budapest (Receiyed July 10, 1973) . Presented by Prof. Dr. F. CSiKI Introduction Xonlinear systems haye many different types. Since there is no simple mathematical method for the description of different structures (and is unlike to he in the futur(') only special tasks of nonlinear systems parameter estima-tion could he solved. In the sam(' "way as the im pulse response for linear systems th(' VOLTERRA series expansiollmeans a non-parametric system description for a wide class of nonlinear systems. During parametrizing this linear form, approximating the series of "twice infinite size" (infinite in time and in order of expansion), a functional relationship -- lineal' in parameters -- can he obtained which considerably simplifi('s the identificatioll procedure. Unfortu-nately, the number of necessary parameters is too great for many practical cases [2]. The method8 elaborated for the identification of linear discrete-time sY8tems can simply be extended for a special class of nonlillear systems i.e. for the I-LDDIERsTEn model where the zero memory nonlinearity is followed hy linear dynamics. Considering a discrete-time system, a8surning second-order polynomial as a nonlinearity and using the impulse transfer function, the H.DDIERSTEI:.'i" model is ShO'Dl in Fig. 1. The equation of the no-memory nonlinearity IS Fig. 1 (1) and the difference equation for the discrete-time system IS (assuming unit sampling time) A(:;-l)y(t) (2) 72 R. HABER and L. KEVICZKY where (3) and m n. (4) (Herez-1is a backward shift operator: Z-lU (t) = u(t 1). ::Xotice that the first term of the polynomial B(z-l) is taken as unity for the sake of a safely unam-biguous description.) On the basis of (1) and (2) input and output are related by: m n y(t) = ~ biv(t - i) ~aiy(t - i) = i=O i=l m m m = To~b; ;=0 T1 ~ biu(t - i) r 2 ~ b; u2(t i) -i=O i=O n - ~aiy(t - i). i=l (5) This equation formally corresponds to a "multiple input" single output system as illustrated in Fig. 2. Introducing the (n +2m +3) vector g: Fig. " g(t) = [1, u(t), ... , ll(t - m), u2(t), ... , 112(t - m), - y(t - I), ... , -y(t - n)y (6) and the parameter vector p: where (8) Eq. (5) can be given as a scalar product (9) DISCRETE-TDIE HA.1IJIERSTEIS .1IODEL 73 tHere T means the transposition.) Thus we get a system equation having linearity in parameters, the vector p has, however, redundant elements, since I i 11l. (10) If the full parameter vector is estimated then the estimates of numerator of dynamics may be different for the linear part (ll ) and for the quadratic part B (_-1) - I i b _-1 I 2. ,,;.; - -;- 21 ,,;.; I··· (12) Further generalisation and extension of the model are presented in [3]. For practical applications the measurement noises must he taken into account. The majority of methods - in lack of sufficient a priori information-Fig. 3 require to measure the input signal without noise. At the output, however, a linear noise model ha'dng rational spectrum is assumed according to practical experiences, this situation is presented in Fig. 3. Here C(Z-l) - I C _-1 l~ C _-k. !J:k , k (13) and D(c1) = 1 d1z-1 ... + d1z-l • (14) The source noise e(t) is assumed to be normally distributed 'white noise with variance one and independent of u(t). The system to be identified is considered as a structurally stable one with constant parameters and that every root of polynomial zkC(z-l) is assumed to lie inside the unit circle. In this paper the possibilities of the off-line pa-rameter estimation are considered, i.e. for N values of (u(t), ,v(t) ), where u(t) is a "persistently and sufficiently exciting" signal [2]. 74 R. HABER and L. KEFICZKY I. Iterative Estimation Technique NAREl'"DRA and GALL}IAl'"l'" (1966) suggested an iteratiye technique for the identification ofthe HA}DIERSTEIl'" model [9]. Arrange the lY values lI(t) and yet) (t = 1, 2, ... , lV) to N Xl ycctor u and y and define the vector v simil-arlv. Furthermore, introduce the yectors [ro' rI' r 2]T [1, lI(t), lI~(t)y and gAt) = [t·(t), v(t 1), ... , vet - m), -yet 1), -y(t - 2), ... , -yet - n)y . Determination of the parameters consists of the following steps: (15) (16) (17) (18) (a) Assume that B(:;-I)/A(:;-I) 1, thusL· 1(t) = yet), where 1: refers to the estimated value. (b) A simple least-squares (LS) estimation is made for PIon thc basis of u and '-1' i.c. Here [g[(l) 1 Gl = g[UY) . (c) Estimate r(t) again: (d) 1Iake a LS estimation for P~ on the hasis of v ~ and y: 'where Naturally, nowi'~ is replacing v in g~(t). (e) After these, estimate vet) from yet) by p~: n vI(t) = yet) -i- 2 Qiy(t - i) i=I (19) (20) (21) (22) (23) (24) DISCRETE-TDIE H:DIJIERSTELY .UODEL 75 Here the unambiguity is guaranteed with division by ho. The iteration is con-tinued from (b) up to a sufficient accuracy or a given iteration number. Having some a priori information about the parameters of dynamic or nonlinear part of the system, the iteration can be joined at an other point, to the meaning. 2. Estimation Technique with Restrictions Besides the previous method, iterative technique can also be elabOTated for the estimation of the HA:lDIERsTEI:-;-model parameters [7]. Let us redraw Fig. 2 to be equivalent for the input and output points, Fig. 4. Let us introduce the vectors: where g3(t) = [1, u*(t), u2*(t), -y(t 1), ... , -y(t - n)y m u* (t) = B (Z-l) U (t) = )':' hi u (t - i) 7=0 m u2*(t) = B(z-l) u2(t) = 2 hi u2(t - i). -i=O The steps of iteration: (~5 ) (26) (27) (28) (a) The initial estimation of vl(t). (For example, according to iterative estim-ation technique (a), (h), and (c) .) (h) A simple least-squares estimation for pz in knowledge of VI and y: (c) u*(t) and u2*(t) are estimated according to (27) and (28), where B(Z-I) is determined from 1)2 by (17). (d) Least-squares estimation of P3 on the hasis of measured values y and computed values li* and li2*: (29) \vhere [ gj(l) 1 G3= . gnN) (30) (e) PI can he computed from pz and P3 (see (15), (17) and (25) ), so (31 ) repeating these steps from (h). 76 R. HABER and L. KEVICZKY During the identification from noisy measurements it must be taken into account that in these algorithms the necessary condition of unbiased parameter estimation is C(Z-l) = I and D(Z-l) = A(Z-l). Namely, in this case the "equation error" in (22) is white noise (equals e(t) ) and the LS estim-ation coincides with the maximum likelihood (I\IL) one [2]. Though this noise structure is necessary for an unbiased estimation, but this is not a sufficient Fig. 4 condition in both pre..-iously itcrati..-e techniques presented above since e. g. the "input" signal and the equation error are correlated in (22) because of (24). Additional problem is that the solution obtained hy these procedures is not surely the hest one (only a 10call11inil11ul11). 3. Dh·ecL (Noniterative) Estimation Technique HSIA (1968) and CHA;';'G (1971) suggested a direct method instead of the iterative technique for a special case and for the HA)fMERSTEIl'i model, respec-tively [5]. It is shown in the previous item that both the simple and the genera-lized HAl\HIERSTEIN model can he described by Eq. (9), linear in parameters. This means that in case of C(Z-l) = I and D(Z-l) = A(Z-l) the ordinary LS estimation gives an unhiased estimation of p, i.e. (32) Here G (33) This method permits considerahle saving in computation time compared to the iterative technique. In each case it has to he investigated which the better estimation of bi is because the parameter vector (7) in the linearized equation of the simple HA)DIERSTEI;';' model has redundant elements, see (10). This can DISCRETE-TIME HAMMERSTEIS MODEL 77 be performed by the investigation of covariance matrix (GTG)-l or by compari-son of squared sums of residuals. Estimation techniques can be elaborated for other noise structures, too, applying the methods used for the identification of linear discrete-time systems. In the next item the generalized-least-squares . (GLS) method [6] and the ML method [1] are extended for the HAl\lJ\IERSTEI~ model. 4. Generalized-Least-Squares Method The G LS method suggested by CLARKE is actually a special case of AITKEl'o- estimation for the linear discrete-time systems. The estimation pro-cedure consists of the following steps [6]: (a) An ordinary LS estimation for the parameters of (9) according to (32). (b) Computation of the residuals (equation errors) f(t) = y(t) - gT(t)p ; t = 1, 2, ... , 1\, (34) by the estimated parameters of p. (c) Assume that the equation of noise model is f(t) = qT(t) h, ( 35) i.e. linear in parameters, where q(t) = [f(t - l),f(t - 2), .. . ,f(t - slY (36) and (37) Thus the LS estimation of parameter vector h can be determined on the basis of values f(t) computed according to (34): (38) ·where (39) and vector f contains the lY values of f(t). Eq. (35) is valid only for C(Z-l) = 1 and D(z-l) = A(z-l) H(Z-l), where (40) 78 R. H.·jBER and L. KEnCZKY Thus the GLS method giyes an asymptotically unbiased estimation. In general, the noise structure assumed aboye fairly approximates other noise structures. The approximation is the better, the more exactly it realizes the condition: (d) Compute the filtered yalues multiplying both sides of Eq. (9) by H(Z-l): lIf(t) = H(;:;-l)U(t); lIf(t) = H(Z-1)U2(t) yF(t) = H(Z-l)y(t). (41) For the HA}DIERSTEI0" model the system equation with the filtered yalues is (42) where gF(t) = [IF, uf(t), ... , u[(t - m), uf(t), ... , uf(t - m), yF (t 1), ... , _yF(t - n)Y (43) and p. (44) Here (4·5) (f') Constituting Yector YF from yalues yF(t) and matrix (46) the GLS estimation of PF is: (47) The procedure is continued from point (b). (~otice that the second filtering method of CLARKE can also be applied hut in general it is of poorer conYer-gence [6].) DISCRETE-TI.UE HAJDIERSTELY .1IODEL 79-5. Maximum Likelihood Method In the previous methods the noise model is to be assumed a special case of the general one shown in Fig. 3, and reduce the essentially nonlillear estimation problem to a linear onc in parameters via "quasi-linearization". ASTR())I (1965) has developed the NIL method for linear discrete-time systems for D(Z-l) A(Z-l) solving the nonlinear estimation problem and has given its computation technique [1]. (Since the system model and the noise model can be reduced to common denominator in every case, the condition D(Z-l) = A(z-l) is not too severe.) Let us investigate the application of NIL method for the HA}DIERSTEI;'; model. Residual c(t) is defined by equation A(z -l)y(t) and it is the estimation of source noise i.e(t) shown in Figs 2, 3. The logarithm of likelihood function becomes 1 -,- O{ • ! " L = - -- -:5' s-,t) - i\ log I. I const. 2i.2 t='l :Nlaximizing this function is equivalent to minimizing the loss function: 1 N V(p) = - -:5' c2(t). ') ...... ~ t=l (48) (49) (50) The l\IL estimation of i. can be obtained by p belonging to the minimum of the loss function: . 1/') i. = / -=-.. _ V(p). N (51) :'\"0"- P has the following form: The NIL estimate is consistent, asymptotically normal and efficient under mild conditions [1]. In general, combined GAl:SS-N"EVYTO;'; and NEVVTO;';~- RAPHso;'; algo-rithms are used to minimizc the loss function: (53 ) where V p is the gradicnt of V(p), and V pp is the matrix of second order partial derivates. The problem invoh-es the restriction that during thc minimum seeking cvery root of /C(z-l) must lie inside the unit circle. In the vicinity so R. HABER and L. KEVICZKY of illegitimate region the factor :x has a role that can be computed according to different strategies [4]. The computation of derivatives was detailed in [3]. In lack of a priori information the seeking starts from a LS estimation. The globality of obtained minimum has to bc controlled by restarting the seeking from other initial points. It is obvious from these relationships that Eq. (48) formally corresponds to a triple input, single output linear discrete-time system, where u1(t) = I, 112(t) = u(t) and u3(t) = u2(t). (This, of course, can be extended to higher order nonlinearities.) The parameters to be estimated are the coefficients of poly-nomials C(z-l), A(c1), B 1(z-1), B2(C 1) and B 3(z-1). Here B1(z-1) must be assumeq, of zero order. Thus, if a program is available for the lVIL identification of a multiple input, single output system then this program can be easily adapted for identifying the HA:.\DIERSTEIN model, as well. Both the GLS method and the lVIL one have been considered for the estimation of the redundant parameter vector of the HA:.\IMERSTEIN model. Namely first it is to be seen whether separability, i.e. condition (10), is approxi-mately valid. In the positive case the problem will be solved under restriction (10) to ensure the unambiguity. A possible simple solution of this problem arises by replacing Eq. (9) by an equivalent one: y(t) = gnt)p~ (54) 'where (55) and g4(t) = [I, u(t), u(t - I), ... , u(t - m), x(t), -y(t - I), ... , - y(t - n)y (56) where x(t) (57) Since both methods G LS and ML contain iterative procedures, bi values can always be computed between the iteration cycles on the basis of (10) to con-stitute x(t). In this way the parameter vector becomes unambiguous and corresponding to the simple separable HA:.YBIERSTEIN model. 6. Simulation Results , . The programs of every algorithm mentioned in this paper have been made. Their oper~tions and estimation properties, the necessary computing times have been investigated and compared by several simulation examples. We give the estimated parameter values of the folIo'wing H.DDIERSTEIN model DISCRETE·TDIE II.-DLlIERSTELY .IIODEL 81 for different polynomials C(z-l) and ro = 0 and 1"0 2: 1"1 = 2; B(z-l) = = 1+0.5z-1 and A(Z-l) D(Z-l) 1--1.5z- 1..1-0.7z-2. The noiseisignal ratio at the output was 1/' 30 per cent, a rather high yalue. The input signal was a random sequence with normal distribution, zero mean and yariance one. The mean square error value JISE 1 IS also given. Here )"0 is the system output without noise. The estimation of parameters of the H.-L\nlERSTEI~-Illodel containing also a constant term (ro = 2) --- is presented in Fig. 5 for the case of iterative techniclue (IT) suggested hy XARE:'iDRA and GALL:\IA~ and for the case of technique suggested here under restrictions (BIT), wherc the equation error is ,dlite noise, C(z-l) = 1, N 300, 10 SR ----·--1------\--- --- ----,---.. -----, 6 Periodica Polilt'dlllicll EL. 13/1 '1=0 BIT 8 12 76 Fig. S 20 it 82 R. HABER and L. KEVICZKY 'l' = 0 and V' = 30%. This latter method is seen to give a higher convergence rate. The iteration started hy a static regression (SR) or a direct LS estimation (DR), this latter gives the value of steady state of iteration in one step. The estimates of model with no constant term (To = 0) are summarized in Tahle I under different noise conditions and J.V = 500, If! = 30%. The following polynomials C(Z-l) were applied: in cast' I. C(z -1) = 1 1 0.6z -1 Il. Ill. C(_-1) - 1 -- _-1 __ 0 'J_-~ • ..., - N : __ "'" ., IY. C(Z -1) 1 - 1.5z-1 -+ 0.7z-~. In thc table also the non-iteratin (LS), the GLS and the ML methods arc compared. Table 1 r, r 1bll rJI::' l ", C(=- ') i. 0.;) -1..) LS 1.952 0.971 1.0u9 0,499 1.517 GLS 1.9:)2 0.967 1.010 0.493 1.518 GLS (I) 0 .. 5 1.971 1.02.5 1.002 0.509 -1.500 ~IL 1.961 1.009 l.002 (J.;;09 U09 ~IL 1.973 1.025 1.005 0.511 1.501 -------~-- ~---,-~-- ----- "- ---.~-LS 1.90:) 1.3-16 0.9.5;; 0.635 -1. III GLS 1.926 U35 0.995 0.553 1.131 GLS (Il) 1.:) 1.926 1.038 1.003 0.:)32 1.-196 AIL 1.895 1.117 (J.9S7 O.5n 1.'193 ~IL 1.916 1.115 0.995 0.5·16 -1.492 LS 1.829 2.110 0.9·13 O.89B 1.14:: GLS (IIl) 3.0 1.837 1.·170 0.973 0.659 1.433 ~IL UH6 1.2·16 1.013 0.538 -LASl ----,--" --LS 1.851 2.639 0.917 ·1.109 -0.923 GLS (IV) 3.0 1.974 1.422 1.003 0.657 -1.'109 ?ilL 1.379 1.196 0.979 0.565 -1.488 DISCREl'E·l'DIE ILDLiIERSl'ELY .1IODEL 83 7. Conclusions The identification technique of a special nonlinear system, thc H .. UDIER-81'E1); model, has been shown to closely approach the methods elaborated for linear systems. The published estimation procedures have heen reyiewed, the relationships pointed out and suggested to extend the GLS and ML methods for the nonlinear case, presenting the formula necessary for the application. The usefulness of the suggested methods is supported hy simulation results. Further extensive investigations are needed to study in practical cases whether the I-LUDlERSTEIl'< model suit to describe the real nonlinear dynamic systems. The most extensiye application of the suggested methods seems to he by thc moment for investigating a process wether it can bc described by a linear discrcte-time modcl in the 'dcinity of the working point, in the range of an unchanged input signal or not. In this latter casc, hence for a strong nonlinear character -- the linear approximation is only allowed for a lesser changing range of the input signal. Methods applied for identifying the I-LUDIEHSTEI::\" modcl can he used at the adaptiye extremum control, as well. Remind that the GLS method suits on-line estimation, while the adaptive system model necessary for the dual control, can be produced hy the HA}DlERSTEI); modcl. " Il J h" I"~ :>1"£ 11., ,. 0.713 0.197 0.·19·1 0.17:2 0.71·1 (1.0;:\1 0.·196 (lA93 O.·ISO 11. ,on ~·().sz6 0.llB6 O.SZO 0 .. )08 0.IS7 0.705 1i.511~ O.SIS 0.;;08 0.:;31 0.::\91 0.701 O.S6B fJ.236 O.S:W 0.50B O.~19 n.3,)S 0.618 0.707 0.66·1 1.1')9 n.63' 0.·lS8 0.:)89 0 .. ).).) 0.·106 0.697 0.633 0.115 0.5(is 0.5::\1 0.331 0.69·1 0.'192 0.589 0.5:,)4 1.fi07 0,427 0.69·1 0.579 0.Z39 0.577 0.518 Lill 0.377 --~~- -~"---"-~--- --~ .. O.3HO 1.153 O.9.)Z ::\.9~1 0.649 n.77·1 0.363 0.300 0.674 1.167 n.6H6 -0.99·1 0.193 0.676 0.523 .).066 1.029 ----------~---- . -----~-O.li5 1.-126 1.209 .1.109 0.62,) 0.997 0.-198 0.720 0.655 1.363 0.694 1.519 0.747 0.637 0.577 3.067 OA67 6* 84 R. HABEH aad L. KEVICZKY SUlllmary The possibility of parameter estimation of the I-LUDIEHSTEI;; model is investigated in detail in case of quadratic polynomial form and different noise situationi'. OYer and aboH the ,,'ell-known and new iterative and lloniteratiYe methods, the extensions for nonlinear case of generalised least-squaresand maximum likelihood method used in the linear systems - are presented. These methods are supported by simulation results. References 1. c\STHihL K. J.-BOlILEI". T.: :.'Iumcrical Identification of Lincar Dynamic Systems from :.'Iormal Operating Records, IFA,L Teddington. 1965. . 2. ASTRO)L K. J.-EYKlIOFF. P.: System Identification ,'\ sun'cv. IFAC. Praguc. 1970. 3. B"~);Y:~sz, Cs. HABER, R. KE\'ICZKY. L.: Some Estimation ~Iethods for ~Xonlinear Discrete Time Identification. IL\L Ha2;ue. 1973, ,1. Ri."y"i.sz, Cs.: Investigation or'Discrete Identification Methods by Digital Comjluter, Ph. D. Thesis 1971 Automation Research Institute of the Hungarian Academy of Sciences. 1972/5. ~ . . ). ClIAI'iG, F. H. 1. - LlTS, R.: A X oni teratiYe }f ethod for Identification l.:sing I-LuDlEHSTEI;; lilodcl. IEEE Trans. c'l.ut. Control 1971. AC-16. 6. CLARKE. D. \'r.: Gencralized-Least-Squares Estimation of the Parameters of a Dynamic lilodel, IFAL Prague, 1967. 7. HABEH. R.: Identification of ::\'onlinear Discrete Proccsscs. :1Iaster Thesis 1972 Technical Univcrsity of Budapest. :\utomatic Control Departmcnt. 8. KEYICZKY. L.-Ri.);Y . .\.sz. Cs.: Identification of Lincar Discrete Timc Systems. Electro-technica, Hungary. (To be published.) . 9. ::\'AHE;;DRA. K. S. - GALL)IA);I'i, P. G.: An Iteratiyc :1Icthod for the Identification of Xon-lincar System" Csing a H.-DDIEHSTEI::< Model. IEEE TraIlS. :\ut. Contr. 1966. AC-I1. Dr. Laszl6 KEnCZKY 1 J H-1521, Butiap('O't, R6hcrt IL-\'BEH 

THE IDENTIFICATION OF THE DISCRETE-TIME HAMMERSTEIN MODEL

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THE IDENTIFICATION OF THE DISCRETE-TIME HAMMERSTEIN MODEL

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Periodica Polytechnica (Budapest University of Technology and Economics)