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Parameter identification of a class of nonlinear systems with structure uncertainly using controlled symmetric motions

This paper proposes the generalization of the nonlinear models for which the identification method based on symmetric motions can be applied with high efficiency. We chose two symmetric motion intervals which helps to simplify the calculations. We also propose a new iterative-adaptive algorithm for a high accuracy tracking control. Based on the symmetry criteria we iteratively calculate estimations and use them in the control algorithm.