An optimal input design method for parameter estimation in a discrete-time nonlinear systemis presented in the paper to improve the observability and identification precision of modelparameters. Determinant of the information matrix is used as the criterion function which isgenerally a nonconvex function about the input signals to be designed. To avoid the locallyoptimizing problem, a randomized designmethod is proposed bywhich a globally optimizing testplan other than input signals may be obtained. Then the randomized design can be approximatedby a nonrandomized design about optimal inputs. An iterative algorithm integrated with dynamicprogramming is given and verified by a numerical example on experimental design for self-calibration tests of ISP system.
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