Robot Arm Plant Identification

Full State

$$\begin{pmatrix} \theta \\ \dot{\theta} \end{pmatrix}_{k+1} = f\left( \theta_k, \dot{\theta}_k, u_k \right)$$

code

Fig1. - Robot Arm trajectory.

Input/Output

$$\theta_{k+1} = f\left( \theta_k, \theta_{k-1}, u_k, u_{k-1} \right)$$

Fig2. - Robot Arm trajectory.