Analysis and application of a robust identification method

摘要

Parametric identification requires a good know-how and an accurate analysis. The most popular methods consist in using simply the least squares techniques because of their simplicity. However, these techniques are not intrinsically robust. An alternative consists in helping them with an appropriate data treatment while another choice consists in applying a robust identification method. This paper focuses on an analysis of a robust method called "the simple refined instrumental variable method". This method will be applied to a single degree of freedom master arm developed by the CEA Interactive Robotic Unit.