Extra Content for: Rolf Isermann, Marco Münchhof:

Identification of Dynamic Systems.

Springer. ISBN 978-3-540-78878-2

Experimental Data of the

Three-Mass Oscillator
MATLAB® compatible files
 Important Remarks (1/2)
These data should only be used as companion data for the book
Identification of Dynamic Systems. Using these data without a profound
knowledge of the identification methods as described in the book will lead to
useless and/or errorneous results.

The given measurements of the Three-Mass Oscillator must be pre-processed in

order to obtain optimal results.

The measurements have furthermore been sampled with very small sample
times in order to allow the user to downsample the data and hence adjust the
sample rate and investigate the influence of the sample time on the results. Using
the data directly with such heavy oversampling can result in numerical
problems.

Extra Content: Rolf Isermann, Marco Münchhof: Identification of Dynamic System, Springer Verlag. ISBN: 978-3-540-78878-2
 Important Remarks (2/2)
Some measurements have been conducted on purpose in such a way that they
do not provide useful results as e.g. the input sequence does not excite the
relevant system dynamics.

Please consult the appropriate sections in the book to see detailed discussions of
the suitability of the input sequences.

Extra Content: Rolf Isermann, Marco Münchhof: Identification of Dynamic System, Springer Verlag. ISBN: 978-3-540-78878-2
 File Structure

Variable Name Variable Name

Time time Motor Torque MM
ϕ1 phi1 dϕ1 / dt dphi1
ϕ2 phi2 dϕ2 / dt dphi2
ϕ3 phi3 dϕ3 / dt dphi3
Sample Time T0 Factor µ for PRBS mue

Extra Content: Rolf Isermann, Marco Münchhof: Identification of Dynamic System, Springer Verlag. ISBN: 978-3-540-78878-2
 Non-Periodic Test Signals

u(t)
u0 u0

t t
T T

Extra Content: Rolf Isermann, Marco Münchhof: Identification of Dynamic System, Springer Verlag. ISBN: 978-3-540-78878-2
 Impulse
Excitation: Impulse, i.e.
approximation by a short
step of duration 0.1s and
height 5 Nm over an offset
of 0.7 Nm (total height 5.7
Nm). The impulse
response is measured for
comparison with methods
that provide an impulse
response as a model.

Sample Time: 0.003 s

Files:
• impulse_response

Extra Content: Rolf Isermann, Marco Münchhof: Identification of Dynamic System, Springer Verlag. ISBN: 978-3-540-78878-2
 Square Pulse 0.05 s
Excitation: Square pulse of
length 0.05 s and height 3
Nm over an offset of 0.7 Nm
(total height 3.7 Nm)

Sample Time: 0.003 s

Files:
• square_T_0050_r_1

Extra Content: Rolf Isermann, Marco Münchhof: Identification of Dynamic System, Springer Verlag. ISBN: 978-3-540-78878-2
 Negative Square Pulse 0.15 s (1/2)
Excitation: Negavtive square
pulse of length 0.15 s and
height -3 Nm over an offset of
-0.7 Nm (total height -3.7 Nm)

Sample Time: 0.003 s

Files:
• square_T_0150_l_1
• square_T_0150_l_2
• square_T_0150_l_3
• square_T_0150_l_4

Extra Content: Rolf Isermann, Marco Münchhof: Identification of Dynamic System, Springer Verlag. ISBN: 978-3-540-78878-2
 Negative Square Pulse 0.15 s (2/2)
Excitation: Negavtive square
pulse of length 0.15 s and
height -3 Nm over an offset of
-0.7 Nm (total height -3.7 Nm)

Sample Time: 0.003 s

Files:
• square_T_0150_l_5

Extra Content: Rolf Isermann, Marco Münchhof: Identification of Dynamic System, Springer Verlag. ISBN: 978-3-540-78878-2
 Square Pulse 0.15 s (1/2)
Excitation: Square pulse of
length 0.15 s and height 3 Nm
over an offset of 0.7 Nm (total
height 3.7 Nm)

Sample Time: 0.003 s

Files:
• square_T_0150_r_1
• square_T_0150_r_2
• square_T_0150_r_3
• square_T_0150_r_4

Extra Content: Rolf Isermann, Marco Münchhof: Identification of Dynamic System, Springer Verlag. ISBN: 978-3-540-78878-2
 Square Pulse 0.15 s (2/2)
Excitation: Square pulse of
length 0.15 s and height 3 Nm
over an offset of 0.7 Nm (total
height 3.7 Nm)

Sample Time: 0.003 s

Files:
• square_T_0150_r_5

Extra Content: Rolf Isermann, Marco Münchhof: Identification of Dynamic System, Springer Verlag. ISBN: 978-3-540-78878-2
 Square Pulse 0.21 s
Excitation: Square pulse of
length 0.21 s and height 3 Nm
over an offset of 0.7 Nm (total
height 3.7 Nm)

Sample Time: 0.003 s

Files:
• square_T_0210_r_1

Extra Content: Rolf Isermann, Marco Münchhof: Identification of Dynamic System, Springer Verlag. ISBN: 978-3-540-78878-2
 Square Pulse 0.315 s
Excitation: Square pulse of
length 0.315 s and height 3
Nm over an offset of 0.7 Nm
(total height 3.7 Nm)

Sample Time: 0.003 s

Files:
• square_T_0315_r_1

Extra Content: Rolf Isermann, Marco Münchhof: Identification of Dynamic System, Springer Verlag. ISBN: 978-3-540-78878-2
 Square Pulse 0.465 s
Excitation: Square pulse of
length 0.465 s and height 3
Nm over an offset of 0.7 Nm
(total height 3.7 Nm)

Sample Time: 0.003 s

Files:
• square_T_0465_r_1

Extra Content: Rolf Isermann, Marco Münchhof: Identification of Dynamic System, Springer Verlag. ISBN: 978-3-540-78878-2
 Square Pulse 0.740 s
Excitation: Square pulse of
length 0.740 s and height 2.5
Nm over an offset of 0.7 Nm
(total height 3.2 Nm)

Sample Time: 0.003 s

Files:
• square_T_0740_r_1

Extra Content: Rolf Isermann, Marco Münchhof: Identification of Dynamic System, Springer Verlag. ISBN: 978-3-540-78878-2
 Square Pulse 1.000 s
Excitation: Square pulse of
length 1.000 s and height 2
Nm over an offset of 0.7 Nm
(total height 2.7 Nm)

Sample Time: 0.003 s

Files:
• square_T_1000_r_1

Extra Content: Rolf Isermann, Marco Münchhof: Identification of Dynamic System, Springer Verlag. ISBN: 978-3-540-78878-2
 Negative Step (1/2)
Excitation: Negative step at
time t=10 s and height -1.1
Nm over an offset of -0.5 Nm
(total height -1.6 Nm)

Sample Time: 0.003 s

Files:
• step_l_1
• step_l_2
• step_l_3
• step_l_4

Extra Content: Rolf Isermann, Marco Münchhof: Identification of Dynamic System, Springer Verlag. ISBN: 978-3-540-78878-2
 Negative Step (2/2)
Excitation: Negative step at
time t=10 s and height -1.1
Nm over an offset of -0.5 Nm
(total height -1.6 Nm)

Sample Time: 0.003 s

Files:
• step_l_5

Extra Content: Rolf Isermann, Marco Münchhof: Identification of Dynamic System, Springer Verlag. ISBN: 978-3-540-78878-2
 Step (1/2)
Excitation: Negative step at
time t=10 s and height 1.1 Nm
over an offset of 0.5 Nm (total
height 1.6 Nm)

Sample Time: 0.003 s

Files:
• step_r_1
• step_r_2
• step_r_3
• step_r_4

Extra Content: Rolf Isermann, Marco Münchhof: Identification of Dynamic System, Springer Verlag. ISBN: 978-3-540-78878-2
 Step (2/2)
Excitation: Step at time t=10
s and height 1.1 Nm over an
offset of 0.5 Nm

Sample Time: 0.003 s

Files:
• step_r_5

Extra Content: Rolf Isermann, Marco Münchhof: Identification of Dynamic System, Springer Verlag. ISBN: 978-3-540-78878-2
 Triangle 0.933s
Excitation: Triangular pulse
of length 0.933 s and height 3
Nm over an offset of 0.7 Nm
(total height 3.7 Nm)

Sample Time: 0.003 s

Files:
• triangle_T_0933_1

Extra Content: Rolf Isermann, Marco Münchhof: Identification of Dynamic System, Springer Verlag. ISBN: 978-3-540-78878-2
 Evaluation with Fourier Transform
• Use data set square_T_0150_r_1

• Subtract the DC values

• Downsampling not necessary

• Warning: The file triangle_T_0933_1 is totally unsuited as the first zero

of the input spectrum coincides with the resonant frequency of the system

Extra Content: Rolf Isermann, Marco Münchhof: Identification of Dynamic System, Springer Verlag. ISBN: 978-3-540-78878-2
 PRBS Signals
1 1 a

0 0 -a

Shift Pulses

1 2 3 4 n 1
-a

⊕
Extra Content: Rolf Isermann, Marco Münchhof: Identification of Dynamic System, Springer Verlag. ISBN: 978-3-540-78878-2
 PRBS with µ=17
Excitation: PRBS with µ=17
and values 0.8 Nm and 1.6
Nm

Sample Time: 0.003 s

Files:
• prbs_mu17_r_1
• prbs_mu17_r_2
• prbs_mu17_r_3

Extra Content: Rolf Isermann, Marco Münchhof: Identification of Dynamic System, Springer Verlag. ISBN: 978-3-540-78878-2
 PRBS with µ=50 (1/2)
Excitation: PRBS with µ=50
and values 0.8 Nm and 1.6
Nm

Sample Time: 0.003 s

Files:
• prbs_mu50_r_1
• prbs_mu50_r_2
• prbs_mu50_r_3
• prbs_mu50_r_4

Extra Content: Rolf Isermann, Marco Münchhof: Identification of Dynamic System, Springer Verlag. ISBN: 978-3-540-78878-2
 PRBS with µ=50 (2/2)
Excitation: PRBS with µ=50
and values 0.8 Nm and 1.6
Nm

Sample Time: 0.003 s

Files:
• prbs_mu50_r_5
• prbs_mu50_r_6
• prbs_mu50_r_7
• prbs_mu50_r_8

Extra Content: Rolf Isermann, Marco Münchhof: Identification of Dynamic System, Springer Verlag. ISBN: 978-3-540-78878-2
 PRBS with µ=70
Excitation: PRBS with µ=70
and values 0.8 Nm and 1.6
Nm

Sample Time: 0.003 s

Files:
• prbs_mu70_r_1
• prbs_mu70_r_2
• prbs_mu70_r_3

Extra Content: Rolf Isermann, Marco Münchhof: Identification of Dynamic System, Springer Verlag. ISBN: 978-3-540-78878-2
 PRBS with µ=105
Excitation: PRBS with µ=105
and values 0.8 Nm and 1.6
Nm

Sample Time: 0.003 s

Files:
• prbs_mu105_r_1
• prbs_mu105_r_2
• prbs_mu105_r_3

Extra Content: Rolf Isermann, Marco Münchhof: Identification of Dynamic System, Springer Verlag. ISBN: 978-3-540-78878-2
 PRBS with µ=155
Excitation: PRBS with µ=155
and values 0.8 Nm and 1.6
Nm

Sample Time: 0.003 s

Files:
• prbs_mu155_r_1
• prbs_mu155_r_2
• prbs_mu155_r_3

Extra Content: Rolf Isermann, Marco Münchhof: Identification of Dynamic System, Springer Verlag. ISBN: 978-3-540-78878-2
 PRBS with µ=333
Excitation: PRBS with µ=333
and values 0.8 Nm and 1.6
Nm

Sample Time: 0.003 s

Files:
• prbs_mu333_r_1
• prbs_mu333_r_2
• prbs_mu333_r_3

Extra Content: Rolf Isermann, Marco Münchhof: Identification of Dynamic System, Springer Verlag. ISBN: 978-3-540-78878-2
 Evaluation with Deconvolution for
Discrete-Time Model
• Use data set prbs_mu50_r_1

• Subtract the DC values

• Downsampling by a factor of 15

• Warning: The PRBS does only resemble the ACF of a DRBS and a white noise if
evaluated over full periods!

Extra Content: Rolf Isermann, Marco Münchhof: Identification of Dynamic System, Springer Verlag. ISBN: 978-3-540-78878-2
 Evaluation with LS for Discrete-
Time Model
• Use data set prbs_mu70_r_1

• Subtract the DC values

• Downsampling by a factor of 16

Extra Content: Rolf Isermann, Marco Münchhof: Identification of Dynamic System, Springer Verlag. ISBN: 978-3-540-78878-2
 Evaluation with COR-LS for
Discrete-Time Model
• Use data set prbs_mu17_r_2

• Subtract the DC values

• Downsampling by a factor of 16

Extra Content: Rolf Isermann, Marco Münchhof: Identification of Dynamic System, Springer Verlag. ISBN: 978-3-540-78878-2
 Evaluation with Kiefer Wolfowitz
for Discrete-Time Model
• Use data set prbs_mu70_r_1

• Subtract the DC values

• Downsampling by a factor of 16

Extra Content: Rolf Isermann, Marco Münchhof: Identification of Dynamic System, Springer Verlag. ISBN: 978-3-540-78878-2
 Evaluation with LS for Continuous-
Time Model
• Use data set prbs_mu70_r_1

• Subtract the DC values

• Downsampling by a factor of 16

• Filter with a Butterworth low-pass filter of order 9 and corner frequency 6 Hz

Extra Content: Rolf Isermann, Marco Münchhof: Identification of Dynamic System, Springer Verlag. ISBN: 978-3-540-78878-2
 Evaluation with Iterative Optim. for
Continuous-Time Model
• Use data set prbs_mu50_r_1

• Simulation must run sufficiently fast and is independent of the factor that the
data are downsampled

Extra Content: Rolf Isermann, Marco Münchhof: Identification of Dynamic System, Springer Verlag. ISBN: 978-3-540-78878-2
 Evaluation with LOLIMOT for
Discrete-Time Model
• Use data set prbs_mu17_r_2

• Subtract the DC values

• Downsampling by a factor of 16

Extra Content: Rolf Isermann, Marco Münchhof: Identification of Dynamic System, Springer Verlag. ISBN: 978-3-540-78878-2
 Periodic Signals
yn (t)

u0 sin ω0t
Process
Test Signal
Generator

1
n TP φuy (0)
x n TP ∫  dt
0

u0 cos ω0t 1
n TP φuy (TP/4)
x n TP ∫  dt
0

Extra Content: Rolf Isermann, Marco Münchhof: Identification of Dynamic System, Springer Verlag. ISBN: 978-3-540-78878-2
 File Structure

Variable Name Unit

ω w rad/sec
Amplitude amplitude_osc rad/s Nm
Phase phase_osc rad

Extra Content: Rolf Isermann, Marco Münchhof: Identification of Dynamic System, Springer Verlag. ISBN: 978-3-540-78878-2
 Frequency Response Measured
with Orthogonal Correlation
Excitation: Sinusoidal
excitation and evaluation with
the orthognal correlation

Data Points: 68 data points

between 0.1 rad/sec and 40
rad/sec.

Files:
• freq_resp

Extra Content: Rolf Isermann, Marco Münchhof: Identification of Dynamic System, Springer Verlag. ISBN: 978-3-540-78878-2
 Evaluation with FR-LS for
Continuous-Time Model
• Use data set freq_resp

• No further pre-processing necessary

Extra Content: Rolf Isermann, Marco Münchhof: Identification of Dynamic System, Springer Verlag. ISBN: 978-3-540-78878-2
 Evaluation with Iterative Optim. for
Continuous-Time Model
• Use data set freq_resp

• No further pre-processing necessary

Extra Content: Rolf Isermann, Marco Münchhof: Identification of Dynamic System, Springer Verlag. ISBN: 978-3-540-78878-2
 Photos of the Three-Mass
Oscillator
Detail View Full View

File File
[Link] [Link]

Extra Content: Rolf Isermann, Marco Münchhof: Identification of Dynamic System, Springer Verlag. ISBN: 978-3-540-78878-2
 Scheme of the Three-Mass
Oscillator
Scheme

Files
[Link]
[Link]

Extra Content: Rolf Isermann, Marco Münchhof: Identification of Dynamic System, Springer Verlag. ISBN: 978-3-540-78878-2