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JRM Vol.37 No.5 pp. 1102-1112
doi: 10.20965/jrm.2025.p1102
(2025)

Paper:

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System Identification Under Multirate Sensing Environments

Hiroshi Okajima ORCID Icon, Risa Furukawa, and Nobutomo Matsunaga ORCID Icon

Kumamoto University
2-39-1 Kurokami, Chuo-ku, Kumamoto, Kumamoto 860-8555, Japan

Received:
March 17, 2025
Accepted:
June 9, 2025
Published:
October 20, 2025
Creative Commons License
Keywords:
subspace identification, system identification, multirate system, cyclic reformulation, sensor fusion
Abstract

This paper proposes a system identification algorithm for systems with multirate sensors in a discrete-time framework. It is challenging to obtain an accurate mathematical model when the ratios of the inputs and outputs are different. A cyclic reformulation-based model for multirate systems is formulated, and the multirate system can be reduced to a linear time-invariant system to derive the model under the multirate sensing environment. The proposed algorithm integrates a cyclic reformulation with a state coordinate transformation of the cycled system to enable precise identification of systems under the multirate sensing environment. The effectiveness of the proposed system identification method is demonstrated through numerical simulations.

Multi-rate system identification sequence

Multi-rate system identification sequence

Cite this article as:
H. Okajima, R. Furukawa, and N. Matsunaga, “System Identification Under Multirate Sensing Environments,” J. Robot. Mechatron., Vol.37 No.5, pp. 1102-1112, 2025.
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Last updated on Oct. 19, 2025