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    <h1><a href="index.html" style="text-decoration:none;">Underactuated Robotics</a></h1>
    <p data-type="subtitle">Algorithms for Walking, Running, Swimming, Flying, and Manipulation</p>
    <p style="font-size: 18px;"><a href="http://people.csail.mit.edu/russt/">Russ Tedrake</a></p>
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      &copy; Russ Tedrake, 2020<br/>
      <a href="tocite.html">How to cite these notes</a> &nbsp; | &nbsp;
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<p><b>Note:</b> These are working notes used for <a
href="http://underactuated.csail.mit.edu/Spring2020/">a course being taught
at MIT</a>. They will be updated throughout the Spring 2020 semester.  <a
href="https://www.youtube.com/channel/UChfUOAhz7ynELF-s_1LPpWg">Lecture  videos are available on YouTube</a>.</p>

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<chapter style="counter-reset: chapter 17"><h1>System Identification</h1>


  <section><h1>Equation Error vs Simulation Error</h1></section>

  <section><h1>Linear State-Space Models</h1>

    <subsection><h1>From state observations</h1>

      <todo>model-order reduction</todo>

    </subsection>

    <subsection><h1>From input-output data</h1>

      <todo>Ho-Kalman</todo>
      <todo>Subspace identification</todo>

    </subsection>

    <subsection><h1>Adding stability constraints</h1></subsection>

  </section>

  <section><h1>Linear ARMAX Models</h1></section>

  <todo>PWA / Hybrid System ID</todo>

  <section><h1>Nonlinear System Identification</h1>

    <todo>Neural Nets / Intuitive physics / etc.</todo>
    <todo>MMT / Jack's work</todo>

  </section>

  <section><h1>Parameter Identification for Mechanical Systems</h1></section>

  <section><h1>Optimal Experiment Design</h1></section>

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