Depending on the number of the unknown process parameters, more different self-oscillations may be obtained. For more details, the reader is referred to Miskovic et al. (2007b). In the case of determining inertia and drag, only one experiment is needed. Let's assume that the process is linear and that it can be described with (5). The self-oscillations will be symmetric and the unknown parameters a and can be found using (30) and (31). If the system is nonlinear, parameter a can be determined using the same equation (30) but parameter is obtained from (32). A more detailed derivation of these expressions can be found in Appendix B. For more details on this, the reader is referred to Miskovic et al. (2007c).

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