Two nonlinear identification methods for dynamical SDOF systems, developed at the K.U.Leuven, a frequency domain method, based on the describing function concept, and a direct time domain method, are briefly discussed. The efficiency of the proposed methods is illustrated with the identification of the nonlinear system characteristics from open loop stepped sine measurements of a flexible robot link, driven by a direct drive motor. This application shows how dry friction in motor drives can be detected and identified with the proposed methods.
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