A.Lj. Juloski, W.P.M.H. Heemels, and G. Ferrari-Trecate. Data-based hybrid modelling of the component placement process in pick-and-place machines. Control Engineering Practice , 12(10):1241--1252, 2004.
In this paper we present an experimental study in the identificationof the electronic component placement process in pick-and-placemachines. Unilateral contact and saturation phenomena characterize the hybriddynamics of the system. Furthermore, the mode switch cannot bemeasured and identification algorithms for hybrid systems, that arecapable to reconstruct both the modes and the switching law, must be used.Piece-Wise AutoRegressive eXogenous (PWARX) models, which consist of a number of ARX modes together with the partitionof the regressor space into regions where each model is valid are identified. We show that the reconstructed models are able to capturethe relevant dynamics of the experimental setup. Practical insightson hybrid system identification and comments on possible improvements of theidentification algorithm complement the quantitative results.