A variational integrators approach to second order modeling and identification of linear mechanical systems

M. Bruschetta, A. Saccon, G. Picci

Research output: Contribution to journalArticleAcademicpeer-review

10 Citations (Scopus)
113 Downloads (Pure)

Abstract

The theory of variational integration provides a systematic procedure to discretize the equations of motion of a mechanical system, preserving key properties of the continuous time flow. The discrete-time model obtained by variational integration theory inherits structural conditions which in general are not guaranteed under general discretization procedures. We discuss a simple class of variational integrators for linear second order mechanical systems and propose a constrained identification technique which employs simple linear transformation formulas to recover the continuous time parameters of the system from the discrete-time identified model. We test this approach on a simulated eight degrees of freedom system and show that the new procedure leads to an accurate identification of the continuous-time parameters of second-order mechanical systems starting from discrete measured data.
Original languageEnglish
Pages (from-to)727-736
Number of pages10
JournalAutomatica
Volume50
Issue number3
DOIs
Publication statusPublished - 2014

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