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A method for the identification of system modes

A frequency-response method allowing the identification of system modes, given the system transfer function (or Bode diagram), is presented. The method has been developed as an integral part of a controller tuning technique based on the recursive identification of the most oscillatory mode of the systems to be tuned. The method is based on the Bode diagram of the system to be identified and uses the rate of change of phase angle with frequency. Its implementation and limitations are discussed and a numerical example is given. The method is referred to as the 'slope method for identification',