Identification Santa Barbara , California , USA , 2000 CLOSED - LOOP IDENTIFICATION W I T H AN UNSTABLE O R NONMINIMUM PHASE CONTROLLER Benoit Codrons ' , Brian
نویسندگان
چکیده
In many practical cases, the identification of a system is done using data meamred on the plant in closed loop with some contmller. In this paper, we show that the internal stability of the resulting model, in closed loop with the same controller, cannot always be guaranteed if this controller is unstable and/or nonminimum phase, and that the direct, indirect and joint input-output approaches of closed-loop prediction-error identification present different properties regarding this stability issue. We give some guidelines to avoid the emergence of this problem; these guidelines concern both the experiment design and the identification method. Copyright @ 2000 IFAC. Keywotds: Closed-loop identification, slability, unstable or nonminimum phase controller
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