3. Inverse Dynamic Identification Model

3.1 IDIM structure

The English acronym is retained for convenience. The IDIM model is considered the reference model for identifying dynamic parameters. It is interesting to note that this model is used in other fields such as economics, econometrics, signal processing, and automation. This model is linear with respect to the parameters to be identified. $β$ can rightly be considered universal. The IDIM model is given by:

y =

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Bibliography

(1) - KHALIL (W.), DOMBRE (E.) - Modeling, identification and control of robots. - - Butterworth-Heinemann (2004).
(2) - ARMSTRONG-HELOUVRY (B.), DUPONT (P.), DE WIT (C.C.) - A survey of models : analysis tools and compensation methods for the control of machines...

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