A two-step system identification is presented to estimate modal properties of a base-fixed model from ambient vibration records on multi-story building with soil-structure interaction (SSI). In the first step output-only stochastic subspace method employed for estimating SSI. second are modified estimates, by using theoretical relations between multi-degree-of-freedom SSI and its equivalent der...

Development of mathematical models and algorithms for optimal control the functioning industrial robots on a movable base to ensure accuracy trajectory movement positioning is considered. An equation in implementation complex spatial operation obtained and, its basis, model developed.