Hello,

I'm performing system identification of the lateral closed-loop dynamics of a quadrotor.

My model receives a setpoint and should return position and acceleration.

I've proposed a second order model of the type, see pictures, and solved it with MATLAB's greyest():

The model performs very well for the position, 97% on a cross-validation dataset, but the performance is very low for acceleration 43%.

Note the acceleration dataset comes out from an accelerometer so it's noisy, I've already tried low pass filtering the noise to improve performance with no positive results.

Any ideas on how to improve this?

Thanks!

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