This repository summarizes an attempt in system identification that I made during my time at the Altair Robotics Laboratory.
Specifically, it is about the synthesis of an estimator able to evaluate both the tightly coupled environment stiffness and equilibrium position. This has proven to be quite challenging through the use of linear estimators.
The environment is modeled through the use of a MATLAB S-function as a second order system
Since we are mostly concerned about an environment which continously changes
A basic implementation of a linear Recursive Least-Square regressor with forgetting factor