2013 Fifth International Conference on Intelligent Human-Machine Systems and Cybernetics
The Research Survey of System Identification Method
Li Fu
Automation department
Shenyang Aerospace University
Shenyang, China
e-mail: ffulli@yahoo.com.cn
Abstract—At present, as a method of establishing mathematical
model of the system, the system identification has been widely
applied to the automatic control, aviation, spaceflight,
astronomy, medicine, biology, marine ecology and society,
economics and many other fields. With the rapid development
of science and technology, the status of system identification
technique in various disciplines is becoming increasingly
important. This paper firstly introduces traditional methods of
linear system identification, and then modern methods of
nonlinear system identification are introduced briefly based on
the neural network, fuzzy logic, genetic algorithm, swarm
intelligence optimization algorithms, auxiliary model
identification algorithm, multi-innovation identification
algorithm and hierarchical identification algorithm, and finally
the author analyses the developing tendency and prospect of
system identification.
Keywords-System identification, neural network, fuzzy logic,
genetic algorithm, swarm intelligence optimization
algorithms,auxiliary model identification algorithm, multi-
innovation identification algorithm, hierarchical identification
algorithm
I. INTRODUCTION
System identification is a method of using the input and
output data of the system to build the mathematical model of
the system, which is being widely applied to various fields of
production and life. Since modern systems are becoming
more and more complex, and even their internal mechanisms
are unclear in whole, therefore, whether or not researchers
design a rational system identification method to establish
the mathematical model of the system plays an important
role in the process of system identification.
System identification has been developed for dozens of
years during which different scholars have different views on
the definition of identification. In 1962, L. A. Zadeh [1]
thought that identification was on the basis of the input and
output data in order that we could determine an equivalent
model from a group of given models for the system under
test. And, Subsequently, P. Eykhoff [2] in 1974, further
defined the concept of identification: " Identification
problem can be summed up as a kind of calculus which
represents the essential characteristics of the objective
system by a model, and the understanding of the objective
system can be expressed as useful forms by using this model.
ʾThe definition of identification proposed by L. Ljung [3]
in 1978 is more specific and it is said that identification
contains three elements: data, models and standards and that
978-0-7695-5011-4/13 $26.00 © 2013 IEEE
DOI 10.1109/IHMSC.2013.242
Pengfei Li
Automation department
Shenyang Aerospace University
Shenyang, China
e-mail: lipengfei1988417@163.com.cn
identification is in accordance with a criterion and finally we
select a model which fits the data best from a set of models.
However, a Chinese scholar called Ding Feng [4] on system
identification gives a new definition that system
identification consists of designing an appropriate input
signal, using experimental input and output data, selecting a
class of models, constructing an error criterion function, and
finally determining a model that fits the data best by
optimization methods. This comprehensive definition
emphasizes the design of the input signal strongly in system
identification and optimization methods, and the experiment
design of system identification accords with reality all the
more.
This paper firstly introduces traditional methods of linear
system identification and points out their advantages and
disadvantages, and then modern methods of nonlinear
system identification are introduced briefly based on the
neural network, fuzzy logic, genetic algorithm, swarm
intelligence optimization algorithms, auxiliary model
identification algorithm, multi-innovation identification
algorithm and hierarchical identification algorithm, and
finally the author analyses the developing tendency and
prospect of system identification.
II. TRADITIONAL METHODS FOR LINEAR SYSTEM
IDENTIFICATION
System identification includes linear system
identification and nonlinear system identification. The
traditional identification methods [4-6] are on the basis of
determining the system model framework and the error
criterion function, and then according to input and output
data of the system, the model parameters are determined by
minimizing the error criterion function. Traditional
identification methods include least squares method, gradient
correction method and maximum likelihood method and so
on. The traditional identification methods have the following
advantages:
• Generally speaking, we often take the generalized
error criterion function as the criterion function, and
we need to take account of the impact of system
noise in the process of identification.
• Input signal is the Gaussian white noise in theory,
but we often use the pseudo random signal.
• These methods are suitable for online identification.
However, these methods also have the following
disadvantages at the same time:
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 • The least square identification method is under the
condition that the input signal must be known and
that the input signal need to change relatively and
richly, but system cannot satisfy this condition in
some dynamic systems.
• Researchers can get a good identification result by
these methods for the linear system, but not for the
nonlinear system.
• Structure identification and parameter identification
cannot be synchronized.
III. MODERN METHODS FOR NONLINEAR SYSTEM
IDENTIFICATION
There have been many modern methods for nonlinear
system identification in recent years based on the neural
networks, fuzzy logic, genetic algorithm, swarm intelligence
optimization algorithms, auxiliary model identification
algorithm, multi-innovation identification algorithm and
hierarchical identification algorithm [4-7, 35] etc. The
following is a brief look at these methods:
A. System Identification Method Based on Neural Network
Artificial neural network is a high developed technology
begun from the end of the 20th century. So far, the
application area of neural network extends to all kinds of
areas, especially in intelligent control, nonlinear
optimization, computer vision, biomedical engineering, robot
and system identification where researchers have achieved
significant achievements. Neural network identification is
based on the neural network structure of nonlinear system,
can simulate the input-output relation by using the ability of
neural network which can infinite approach to any nonlinear
mapping, can realize the simple learning algorithm on
engineering by using the ability of self-adaption and self-
learning of the neural network, and finally obtains the
forward or inverse model of the system through training.
This method has the following characteristics:
• No need to establish the model structure of actual
system, because the neural network itself is a model
of the network identification.
• Any linear or nonlinear model can be identified.
• Not only the neural network is a model, but also it is
an actual system which can be achieved by physics.
It also has the following limitations at the same time:
• There is a local minimum problem.
• Long training time and slow learning speed.
• It is difficult to extract ideal training samples
• It is not easy to optimize the network structure.
• It is difficult to solve the convergence problem
completely for the neural network algorithm in
theoretically.
Many scholars have proposed some improved neural
network identification methods and have achieved good
identification effects [8-12].
In the last decade, applying the wavelet neural network
for system identification is a new method of neural network
identification. The network structure is similar to RBF neural
network, and we let the wavelet function replace the
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excitation function of the hidden nodes, and take the dilation
and translation parameters of the wavelet function as the
weights and threshold value from input layer to hidden layer.
The wavelet neural network has the following advantages:
• The element and structure of wavelet network is
determined by wavelet theory, so it can avoid the
blindness of structure design such as the BP neural
network.
• The wavelet neural network has good learning
capacity and high approximation precision.
• The wavelet neural network has simple structures
and high convergence speed and can avoid the local
convergence state of the system.
In the realm of system identification, wavelet neural
network has more and more application potential especially
in nonlinear system identification, and it proposes a new and
effective method for uncertainty and complex nonlinear
system identification, and has broad application prospects
[13-20].
B. System Identification Method Based on Fuzzy Logic
Theory
In recent years, fuzzy logic theory has made great
progress in solving the problem of nonlinear system
identification. Fuzzy identification needs to solve the
problems such as space division of input-output,
determination of the input variables and membership
function, structure determination of output space function
and extraction of fuzzy rules. Fuzzy identification has many
advantages: this method can effectively identify large time-
varying delay system and multi-input single-output system,
can identify the complex system with morbid structure, and
can obtain the controlled object’s combination model of
quantitative and qualitative. There are many fuzzy
identification methods, and the typical identification methods
are as follows. C. Sun solves the problem of structure
identification by the method based on K-D tree [21]. Fuzzy
clustering methods which have different characteristics have
been used widely in structure identification for fuzzy model
[22]. Fuzzy neural network has been widely used in
identification and control for nonlinear system [23]. Genetic
algorithm can be used in fuzzy identification in various
ways, from the simplest model parameter identification to
the most complex learning of rules geometry [24, 25]. In
addition, there are also various fuzzy identification methods
[26, 27].
C. System Identification Method Based on Genetic
Algorithm
Genetic algorithm is a kind of bionic optimization
algorithm. Genetic algorithm is a self-adaptive, heuristic and
global optimization algorithm which is formed by abstracting
and simplifying the biological evolution process, and is
based on nature selection and heredity. The characteristics of
system identification method based on genetic algorithm are
as follows:
• GA is a global search algorithm, and its convergence
speed is fast.
 • Don’t need priori knowledge of system to identify
the nonlinear system.
• It isn’t a problem for GA to select the initial value,
and even though initial value is far away from the
optimal solution, after several generations
optimization, system can obtain optimal solution.
Meanwhile, this method has some limitations: genetic
algorithm has local minimum problem and premature
convergence problem, and it is mainly used in parameter
identification. In addition, GA can not synchronous identify
the structure and parameter of the system. In [28], Li and
Sun propose a system identification method by applying the
improved genetic algorithm, and finally obtains the unbiased
estimator of system parameter. In [29], Li proposes which
combines genetic algorithm and evolutionary programming,
and this method can identify the structure and parameter of
the system at the same time. In [30], Jiang and Wang
propose a parameter estimation method to nonlinear system
model based on genetic algorithm, and finally obtains a good
identification effect.
D. System Identification Method Based on Swarm
Intelligence Optimization Algorithms
In recent years, swarm intelligence and bionic calculation
[31] has become an important area of high-tech research in
contemporary era, and has been widely used in such realms
as artificial intelligence, robot, and data analysis. Swarm
intelligence optimization algorithms are a string of
optimization algorithms, through simulating all kinds of
group behavior of creatures of nature, and using mutual
communication and cooperation between individuals in the
group to achieve search. At present, swarm intelligence
optimization algorithms mainly include ant colony
optimization algorithm [32], particle swarm optimization
algorithm [33], flora optimization algorithm [34], artificial
bee colony optimization algorithm [35] and artificial fish
swarm optimization algorithm [36]. These algorithms have
many advantages as follows: the optimization process is a
global optimization process, and it does not depend on initial
value of the algorithm; optimization have wide application,
and it needn’t priori knowledge of the optimization problem;
the algorithm itself is simple and easy to implement, has
standardized procedure, and integrates with other algorithm
easily; the algorithm is based on swarm intelligence theory
and has a good potential parallelism.
In essence, system identification is an optimization
problem, thus all kinds of swarm intelligence optimization
algorithms can be used in system identification, and different
optimization algorithms constitute different identification
algorithms. According to this theme, we can transform the
parameter identification problem into parameter optimization
problem under certain evaluation function, map the
parameters to be identified to ants, particle and other
individuals in swarm intelligence optimization algorithm,
and adjust individual’s state constantly according to the
optimal strategy of swarm intelligence optimization
algorithms, until the system error meets requirement
precision. Many scholars have proposed some new
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identification methods and have achieved good identification
effects [37-42].
E. Auxiliary Model Identification Method
Auxiliary model identification [43] is a new
identification method with which we can use measurable
information of the system to establish an auxiliary model.
Then the output of the model is used to replace unmeasured
variables of the system and the output of the auxiliary model
is more close to the unmeasured variables through selecting
the auxiliary model parameter. Finally, consistent estimation
of the system parameters is achieved. It was during 2004 that
the auxiliary model identification algorithm was presented in
the field of international control [44]. Nowadays, this method
has been widely applied to solving the identification problem
of the dual-rate sampled data systems [44] and the systems
with irregularly missing data [45]. Auxiliary model
identification has become a kind of identification methods
and presently is used in the study on adaptive signal
processing, adaptive identification and parameter estimation
problems of the linear and nonlinear models. These methods
are as follows: recursive least squares identification method
for the auxiliary model of the system with irregularly
missing data [45], recursive least squares identification
method for the auxiliary model of the multi-rate multi-input
systems [46], auxiliary model-based least-squares
identification methods for Hammerstein output-error systems
[47] and so on.
F. Multi-innovation Identification Method
Multi-innovation identification is an important branch of
the system identification. The innovation is useful
information which is able to improve the parameters
estimation precision or accuracy of state estimation. Multi-
innovation identification method [48] is an identification
method in which we can fully utilize and extend the
identification innovation. In other words, this identification
theory is based on the innovation by extending identification
innovation, turning scalar innovation to innovation vector
and changing innovation vector to innovation matrix. Multi-
innovation identification has become a new identification
field and it can be applied to the study on parameter
estimation, adaptive signal processing and adaptive
identification problems of all kinds of models. These
methods are as follows: multi-innovation stochastic gradient
identification method [49], multi-innovation least squares
identification methods based on the auxiliary model for
MISO systems [50], multi-innovation stochastic gradient
identification algorithm based on feed-forward neural
networks [51] and so on.
G. Hierarchical Identification Method
Hierarchical identification [52] is another important
branch of the system identification which is a new
identification method based on identifying model
decomposition and which is presented in order to solve the
system identification problem of large-scale systems with the
complex structure and multi-dimension. Its basic thought is
that the identification model is decomposed to make the
scale about identification small and to make the original
problem relatively simple and the calculation of
identification method becomes smaller. Hierarchical
identification based on the hierarchical identification theory
has become a new identification field it can be applied for
studying identification problems of all kinds of multivariable
systems with the complex structure and nonlinear systems.
These methods are as follows: hierarchical identification of
large-scale systems [53], gradient based iterative algorithms
for solving a class of matrix equations [54], hierarchical least
squares identification methods for multivariable systems
[55], hierarchical identification of state space models for
multivariable systems [56] and so on.
IV. THE DEVELOPING TENDENCY AND PROSPECT OF
SYSTEM IDENTIFICATION TECHNOLOGY
In recent years, as the constant development and
innovation of system identification technology, some new
methods of system identification are constantly emerging,
and obtain better identification effects in actual application.
Although system identification technology has been
developed for several decades and has achieved many
research results, there are still many problems needing to be
further discussed and studied. Some mainly aspects need to
be advised as follows:
• Reliance on system priori knowledge too much.
• Model has poor universality.
• The identified model can not equivalent to measured
system completely.
Therefore, looking for a system identification method
which needn’t priori knowledge, and whose versatility and
approximation capability is good remains an important
research direction in system identification realm.
V. CONCLUSION
After decades of development, system identification
theory has been studied and applied more and more deep and
widely, especially it has achieved great success in
application of some research fields such as mechanism
research and simulation of system, automatic control,
adaptive prediction and forecast, fault diagnosis and so on.
The author, from the different definitions of system
identification, reviews the traditional and modern methods of
system identification, and then analyzes the difficulties and
prospects of system identification, in hopes of bringing
benefits to related researchers and engineers.
ACKNOWLEDGMENT
The author would like to thank the financial supports
from National Natural Science Foundation of China under
Grant 61074090, Program for Liaoning Excellent Talents in
University under Grant LR2011005, the AVIC Innovation
Funds under Grant cxy2011SH and Shenyang City Science
and Technology Project under Grant 131365.
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