Adaptive Experiment Design for Nonlinear System Identification with Operational Constraints

We consider the joint problem of online experiment design and parameter estimation for identifying nonlinear system models, while adhering to system constraints. We utilize a receding horizon approach and propose a new adaptive input design criterion, which is tailored to continuously updated parameter estimates, along with a new sequential estimator. We demonstrate the ability of the method to design informative experiments online, while steering the system within operational constraints.