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There are limitations on the extent to which manually constructed mathematical models can capture relevant aspects of legged locomotion. Even simple models for basic behaviors such as running involve non-integrable dynamics, requiring the…
One of the fundamental concerns in the operation of modern power systems is the assessment of their frequency stability in case of inertia-reduction induced by the large share of power electronic interfaced resources. Within this context,…
This work presents a technique to estimate on-line the inertia of a power system based on ambient measurements. The proposed technique utilizes the covariance matrix of these measurements and solves an optimization problem that fits such…
Objective: This paper presents a force control scheme for brief isotonic holds in an isometrically contracted muscle tissue, with minimal overshoot and settling time to measure its shortening velocity, a key parameter of muscle function.…
The concept of nonlinear modes is useful for the dynamical characterization of nonlinear mechanical systems. While efficient and broadly applicable methods are now available for the computation of nonlinear modes, nonlinear modal testing is…
In the workspace model of machining an experimental procedure is implemented to determine the elastic behaviour of the machining system. In an other work we have proposed a static characterization of the machining system. In this paper a…
Invariant measures encode the long-time behaviour of a dynamical system. In this work, we propose an optimization-based method to discover invariant measures directly from data gathered from a system. Our method does not require an explicit…
Bridging the sim-to-real gap remains a fundamental challenge in robotics, as accurate dynamic parameter estimation is essential for reliable model-based control, realistic simulation, and safe deployment of manipulators. Traditional…
During the last decade, forcing and response modes produced by resolvent analysis have demonstrated great potential to guide sensor and actuator placement and design in flow control applications. However, resolvent modes are…
System identification is of special interest in science and engineering. This article is concerned with a system identification problem arising in stochastic dynamic systems, where the aim is to estimate the parameters of a system along…
We propose a systematic method to directly identify a sensor fault estimation filter from plant input/output data collected under fault-free condition. This problem is challenging, especially when omitting the step of building an explicit…
This paper deals with the numerical integration of Hamiltonian systems in which a stiff anharmonic potential causes highly oscillatory solution behavior with solution-dependent frequencies. The impulse method, which uses micro- and…
Models that contain intersample behavior are important for control design of systems with slow-rate outputs. The aim of this paper is to develop a system identification technique for fast-rate models of systems where only slow-rate output…
Variational system identification is a new formulation of maximum likelihood for estimation of parameters of dynamical systems subject to process and measurement noise, such as aircraft flying in turbulence. This formulation is an…
We present an interval-based approach for parameter identification in structural static inverse problems. The proposed inverse formulation exploits the Interval Finite Element Method (IFEM) combined with adjoint-based optimization. The…
We tackle the problem of system identification, where we select inputs, observe the corresponding outputs from the true system, and optimize the parameters of our model to best fit the data. We propose a practical and computationally…
A data-driven model identification strategy is developed for dynamical systems near a supercritical Hopf bifurcation with nonautonomous inputs. This strategy draws on phase-amplitude reduction techniques, leveraging an analytical…
We present a method for system identification of flexible objects by measuring forces and displacement during interaction with a manipulating arm. We model the object's structure and flexibility by a chain of rigid bodies connected by…
The identification of dynamic parameters in mechanical systems is important for improving model-based control as well as for performing realistic dynamic simulations. Generally, when identification techniques are applied only a subset of…
Locating the sources of forced low-frequency oscillations in power systems is an important problem. A number of proposed methods demonstrate their practical usefulness, but many of them rely on strong modeling assumptions and provide poor…