通过工况的识别以及模型参数的离线辨识和在线优化，混合模型可以准确地模拟复杂过程在大范围内的动态特性。
By recognition of work condition, off-line identification and on-line optimization of parameters, hybrid model can be used to simulate dynamics of complex process correctly in a large scale.
在进行惯导平台误差模型辨识的过程中，真实的输入加速度难以获得，因此不得不使用测量值来代替，这使得输入输出观测数据中均含有测量噪声。
Because the real input acceleration can not be obtained during the error model identification of the inertial navigation platform, so the measurement value is used to substitute the input data.
为了获得鲁棒pid参数整定所需的过程模型，进行了闭环频域模型辨识的研究。
In order to obtain the dynamic model of the process to be used by robust PID, closed-loop model identification algorithm in frequency domain is researched.
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