Task 4.2.6: Impedance-Based Control

Advanced single-input/single-output and multi-input/multi-output modeling techniques, such as the Volterra Series are highly applicable to nonlinear systems modeling and identification. Consequently, a methodology in which parts of the simulation/modeling data can be identified by an available experimental setup will be beneficial to analyze system performance under more realistic scenarios. Our methods are focused on the kernel measurement and simulation of the developed model without assuming a model structure. This effort will develop the Volterra Series technique into a comprehensive toolset that can provide a mathematically and physically rigorous and acceptable method to analyze nonlinear system classes, including high-power converters, with the added benefit of model portability across other platforms and greater transparency with regard to model detail. In addition, the toolset can be utilized with IMUs in order to create nonlinear models by extracting the terminal behavior of devices.