{"id":"https://openalex.org/W2159887188","doi":"https://doi.org/10.1109/tcst.2010.2077294","title":"MIMO Closed Loop Identification of an Industrial Robot","display_name":"MIMO Closed Loop Identification of an Industrial Robot","publication_year":2010,"publication_date":"2010-11-18","ids":{"openalex":"https://openalex.org/W2159887188","doi":"https://doi.org/10.1109/tcst.2010.2077294","mag":"2159887188"},"language":"en","primary_location":{"id":"doi:10.1109/tcst.2010.2077294","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcst.2010.2077294","pdf_url":null,"source":{"id":"https://openalex.org/S133363738","display_name":"IEEE Transactions on Control Systems Technology","issn_l":"1063-6536","issn":["1063-6536","1558-0865","2374-0159"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Control Systems Technology","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5071949456","display_name":"Andrea Calanca","orcid":"https://orcid.org/0000-0001-9664-4721"},"institutions":[{"id":"https://openalex.org/I25217355","display_name":"University of Pavia","ror":"https://ror.org/00s6t1f81","country_code":"IT","type":"education","lineage":["https://openalex.org/I25217355"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Andrea Calanca","raw_affiliation_strings":["Department of Computer Engineering and Systems Science, University of Pavia, Pavia, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Engineering and Systems Science, University of Pavia, Pavia, Italy","institution_ids":["https://openalex.org/I25217355"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5017882207","display_name":"Luca Massimiliano Capisani","orcid":null},"institutions":[{"id":"https://openalex.org/I25217355","display_name":"University of Pavia","ror":"https://ror.org/00s6t1f81","country_code":"IT","type":"education","lineage":["https://openalex.org/I25217355"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Luca M. Capisani","raw_affiliation_strings":["Department of Computer Engineering and Systems Science, University of Pavia, Pavia, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Engineering and Systems Science, University of Pavia, Pavia, Italy","institution_ids":["https://openalex.org/I25217355"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073649425","display_name":"Antonella Ferrara","orcid":"https://orcid.org/0000-0002-1977-8248"},"institutions":[{"id":"https://openalex.org/I25217355","display_name":"University of Pavia","ror":"https://ror.org/00s6t1f81","country_code":"IT","type":"education","lineage":["https://openalex.org/I25217355"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Antonella Ferrara","raw_affiliation_strings":["Department of Computer Engineering and Systems Science, University of Pavia, Pavia, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Engineering and Systems Science, University of Pavia, Pavia, Italy","institution_ids":["https://openalex.org/I25217355"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5103484881","display_name":"Lorenza Magnani","orcid":null},"institutions":[{"id":"https://openalex.org/I25217355","display_name":"University of Pavia","ror":"https://ror.org/00s6t1f81","country_code":"IT","type":"education","lineage":["https://openalex.org/I25217355"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Lorenza Magnani","raw_affiliation_strings":["Department of Computer Engineering and Systems Science, University of Pavia, Pavia, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Computer Engineering and Systems Science, University of Pavia, Pavia, Italy","institution_ids":["https://openalex.org/I25217355"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":10.2086,"has_fulltext":false,"cited_by_count":95,"citation_normalized_percentile":{"value":0.98000282,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":100},"biblio":{"volume":"19","issue":"5","first_page":"1214","last_page":"1224"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11236","display_name":"Control Systems and Identification","score":0.9991999864578247,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11236","display_name":"Control Systems and Identification","score":0.9991999864578247,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9988999962806702,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10876","display_name":"Fault Detection and Control Systems","score":0.9977999925613403,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7861236333847046},{"id":"https://openalex.org/keywords/mimo","display_name":"MIMO","score":0.6636342406272888},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5974478125572205},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.5325808525085449},{"id":"https://openalex.org/keywords/identification","display_name":"Identification (biology)","score":0.45877915620803833},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.44690531492233276},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.43016722798347473},{"id":"https://openalex.org/keywords/outlier","display_name":"Outlier","score":0.42161810398101807},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3514912724494934},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.3434036374092102},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3377474844455719},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3243998885154724},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.14233943819999695}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7861236333847046},{"id":"https://openalex.org/C207987634","wikidata":"https://www.wikidata.org/wiki/Q176862","display_name":"MIMO","level":3,"score":0.6636342406272888},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5974478125572205},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.5325808525085449},{"id":"https://openalex.org/C116834253","wikidata":"https://www.wikidata.org/wiki/Q2039217","display_name":"Identification (biology)","level":2,"score":0.45877915620803833},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.44690531492233276},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.43016722798347473},{"id":"https://openalex.org/C79337645","wikidata":"https://www.wikidata.org/wiki/Q779824","display_name":"Outlier","level":2,"score":0.42161810398101807},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3514912724494934},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.3434036374092102},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3377474844455719},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3243998885154724},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.14233943819999695},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C59822182","wikidata":"https://www.wikidata.org/wiki/Q441","display_name":"Botany","level":1,"score":0.0},{"id":"https://openalex.org/C127162648","wikidata":"https://www.wikidata.org/wiki/Q16858953","display_name":"Channel (broadcasting)","level":2,"score":0.0},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tcst.2010.2077294","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tcst.2010.2077294","pdf_url":null,"source":{"id":"https://openalex.org/S133363738","display_name":"IEEE Transactions on Control Systems Technology","issn_l":"1063-6536","issn":["1063-6536","1558-0865","2374-0159"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Control Systems Technology","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/9","score":0.5099999904632568,"display_name":"Industry, innovation and infrastructure"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W103156936","https://openalex.org/W178056938","https://openalex.org/W1582353822","https://openalex.org/W1838815852","https://openalex.org/W1964511224","https://openalex.org/W2002038293","https://openalex.org/W2016908760","https://openalex.org/W2018911853","https://openalex.org/W2053973063","https://openalex.org/W2078856056","https://openalex.org/W2101230656","https://openalex.org/W2108360210","https://openalex.org/W2111336682","https://openalex.org/W2118218804","https://openalex.org/W2118948173","https://openalex.org/W2141400158","https://openalex.org/W2156195892","https://openalex.org/W2159537373","https://openalex.org/W2165918954","https://openalex.org/W2169017219","https://openalex.org/W2171900491","https://openalex.org/W2323447981","https://openalex.org/W4205362845","https://openalex.org/W4230927207","https://openalex.org/W4241550261","https://openalex.org/W4300031234"],"related_works":["https://openalex.org/W2789522126","https://openalex.org/W2066693961","https://openalex.org/W2368363778","https://openalex.org/W122584421","https://openalex.org/W4244295168","https://openalex.org/W2753351751","https://openalex.org/W3185180338","https://openalex.org/W2889348933","https://openalex.org/W2351643838","https://openalex.org/W2903025760"],"abstract_inverted_index":{"This":[0],"paper":[1],"proposes":[2],"a":[3,40,59,70,176,183],"practical":[4],"multi-input":[5],"multi-output":[6],"(MIMO)":[7],"closed":[8,93],"loop":[9,94,103],"parameters":[10],"identification":[11,81,95,122,132],"procedure":[12,43,169],"for":[13,73],"robot":[14,108],"manipulators.":[15],"It":[16],"is":[17,83,96,101],"based":[18],"on":[19,175],"the":[20,32,35,46,50,63,74,80,99,107,121,136,139,142,146,150,153,157,160,165],"weighted":[21],"least":[22],"squares":[23],"(WLS)":[24],"method,":[25],"coupled":[26,90],"with":[27,54,85],"particular":[28],"solutions":[29,125],"to":[30,44,61,66,87,110,118,129,162],"facilitate":[31],"estimation,":[33],"reducing":[34],"noise":[36,163],"effect.":[37],"More":[38],"precisely,":[39],"two":[41],"steps":[42],"reduce":[45],"condition":[47],"number":[48],"of":[49,138,144,148,152,159,164],"input":[51,115],"data":[52],"matrix":[53,65,72],"optimal":[55,113],"trajectory":[56],"planning,":[57],"and":[58,105,156],"method":[60,76],"estimate":[62],"variances":[64],"be":[67],"used":[68,181],"as":[69,117,135],"weight":[71],"WLS":[75],"are":[77,126],"illustrated.":[78],"Moreover,":[79],"problem":[82],"solved":[84],"reference":[86,114],"an":[88,112],"MIMO":[89],"system.":[91],"A":[92],"needed":[97],"because":[98,106],"system":[100],"open":[102],"unstable,":[104],"has":[109,170],"track":[111],"so":[116],"correctly":[119],"execute":[120],"procedure.":[123],"Some":[124],"also":[127],"presented":[128,168],"overtake":[130],"common":[131],"problems,":[133],"such":[134],"bias":[137],"estimated":[140],"parameters,":[141],"presence":[143],"outliers,":[145],"necessity":[147],"balancing":[149],"kinematics":[151],"third":[154],"link,":[155],"reduction":[158],"sensitivity":[161],"estimate.":[166],"The":[167],"been":[171],"successfully":[172],"experimentally":[173],"tested":[174],"COMAU":[177],"SMART3-S2":[178],"industrial":[179],"manipulator":[180],"in":[182],"planar":[184],"configuration.":[185]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":10},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":14},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":6},{"year":2018,"cited_by_count":13},{"year":2017,"cited_by_count":7},{"year":2016,"cited_by_count":5},{"year":2015,"cited_by_count":4},{"year":2014,"cited_by_count":5},{"year":2013,"cited_by_count":5},{"year":2012,"cited_by_count":5}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
