Anais do XX Congresso Brasileiro de Automática

Belo Horizonte, MG, 20 a 24 de Setembro de 2014

NARX MODELLING OF THE BOUC-WEN MODEL

Samir Angelo Milani Martins∗, Luis Antonio Aguirre†

∗
GCoM – Grupo de Controle e Modelagem, Departamento de Engenharia Elétrica
Universidade Federal de São João del-Rei, Praça Frei Orlando 170 - Centro, 36307-352
São João del-Rei, Minas Gerais, Brasil
†
Departamento de Engenharia Eletrônica
Universidade Federal de Minas Gerais - Av. Antônio Carlos 6627, 31270-901
Belo Horizonte, MG, Brasil.

Emails: martins@ufsj.edu.br, aguirre@cpdee.ufmg.br

Abstract— This paper presents a methodology for modelling the hysteresis and dynamics of a magneto-
rheological damper (MRD) using a NARX model with four unit-delayed regressors, rather than a system of
non-linear differential equation which uses a Bouc-Wen model. The main contribution of the paper is to shown
the validity of the obtained model and to provide numerical evidence to the fact that by reestimating the
parameters of the obtained structure several other hysteresis curves can be readily obtained.

Keywords— Systems with hysteresis, NARX models, Bouc-Wen, Magneto-rheological dampers.

1 Introduction (Ikhouane e Rodellar, 2007). Apart from that

Hysteresis is a non-linear behaviour usu-
ally found in actuators as magneto-rheological
dampers (MRD), sensors, mechanical connections,
electromagnetic servo motors and biomedical sys-
tems, which exhibit natural memory effects be-
tween the input and output (Ismail et al., 2009;
Aguirre et al., 2012). The hysteresis phenomenon
is related to the natural memory of inelastic be-
haviour. In case of magneto-rheological dampers,
the restoring force depends not only on instan-
taneous deformation, but also on the history of
deformation.
Modelling problems found in systems with
hysteresis as tracking errors and limit cycles have
been extensively studied in science, more specifi-
cally in engineering (Worden et al., 2007). Mod-
elling and control of hysteretic systems is a chal-
lenge in problems that require a high degree
of accuracy and performance (Amthor et al.,
2010; Sireteanu et al., 2012). To meet this de-
mand several techniques for identification and
control of systems with hysteresis have recently
been developed (Gunnar et al., 2006; De Moer-
looze et al., 2010; Ding e Taheri, 2010; Assimaki
et al., 2011; Mohammadzaheri et al., 2012).
Traditional white-box models of hysteretic
systems are usually complicated (Ismail et al.,
2009). A phenomenological model was initially
proposed by Bouc (Bouc, 1967) and extended by
Wen (Wen, 1976). The Bouc-Wen model and
modified versions of it (Du et al., 2006; Talatahari
et al., 2012) are still widely used to model sys-
tems with hysteresis. In this model, the structure
is obtained from physical laws, whereas the pa-
rameters are estimated from data usually by least-
square techniques. The model is composed by a
first-order non-linear differential equation which
may become unstable after parameter estimation
shortcoming, the use of the Bouc-Wen model in
feedforward inverse control is a very hard task.
Alternative techniques are the so-called gray
and black-box procedures. Black-box modelling
techniques only use dynamical data acquired to
build the models. Some model classes include
the Nonlinear AutoRegressive model with eXo-
geneous (NARX) inputs (Leontaritis e Billings,
1985a; Leontaritis e Billings, 1985b) and neural
networks (Hopfield, 1982). Such model classes
have also been used in the modelling of systems
with hysteresis. NARX polynomial models with
high non-linearity degree (tenth degree) are able
to represent the main hysteresis loop (Leva e
Piroddi, 2002). It was shown in (Du et al., 2006)
that neural networks are also able to reconstruct
the hysteresis exhibited by the Bouc-Wen model.
Structure selection is a decisive step in system
identification in general (Hong et al., 2008), and
for systems with hysteresis in particular (Leva e
Piroddi, 2002). The results reported in this pa-
per show that the ERR (Error Reduction Ratio
(Korenberg et al., 1988; Billings et al., 1989)) cri-
terion for model structure selection does not work
properly for systems with hysteresis. Thus, an
alternative technique based on term clustering is
used.
This paper is concerned with the MISO
(multi-input single output) black-box identifica-
tion of NARX polynomial models of systems with
hysteresis. The Bouc-Wen model of a magneto-
rheological damper (Du et al., 2006) is used as a
bench test. In particular we aim at i) determining
a very simple model structure able to reproduce
the hysteresis loop and that could, in the future,
be used in model-based control of hysteretic sys-
tems; and ii) showing that this simple model can
represent a wide range hysteresis loops, only re-

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 Anais do XX Congresso Brasileiro de Automática
Belo Horizonte, MG, 20 a 24 de Setembro de 2014

estimating the model parameters.

This paper is organized as follows: biblio- f = c1 ρ̇ + k1 (x − x0 ),
graphical review has been presented in this sec-
1
tion. Section 2 presents preliminary concepts, nec- ρ̇ = [αz + c0 ẋ + k0 (x − ρ)] ,
essary for understanding the whole text. The sec- c0 + c1
tion 3 presents the methodology used to obtain ż = −γ|ẋ − ρ̇|z|z|n−1 − β(ẋ − ρ̇)|z|n
the model. The results are presented in the sec- +A(ẋ − ρ̇),
tion 4, while concluding remarks and perspectives α = αa + αb uBW ,
for future research are shown in section 5.
c1 = c1a + c1b uBW ,
c0 = c0a + c0b uBW ,
2 Preliminaries u̇BW = −η(uBW − E). (2)

2.2 NARX polynomial models

2.1 Bouc-Wen Model for MRD
A general SISO NARX model (nonlinear au-
The Bouc-Wen model (Wen, 1976) is a phe- toregressive model with exogenous inputs) can be
nomenological model frequently used to identify written as (Chen e Billings, 1989)
systems with hysteresis like magneto-rheological
dampers (Spencer Jr. et al., 1997). This model y(k) = F [y(k−1), . . . ,y(k−ny ),
is based on the rate independent property (Bouc, u(k−d). . . u(k−nu )]+e(k), (3)
1967), which can be mathematically expressed as:
where u(k) and y(k) are respectively the input and
   output signals and e(k) accounts for uncertainties
dz dx dx and possible noise. In this work F [·] is assumed
= g x,z,sign , (1)
dt dt dt to be a polynomial with nonlinearity degree ℓ. In
prediction error minimization (PEM) estimation
problems, a moving average (MA) part is usually
included in the model to reduce bias. In this paper
ρ x constrained parameter estimation will be pursued
Bouc-Wen and therefore the MA parcel will not be used.
The NARX part of model (3) can be expanded
as the summation of terms with degrees of nonlin-
c1 earity in the range [1 ℓ]. Each (p + m)th-order
k0 term can contain a pth-order factor in y and an
f mth-order factor in u and is multiplied by a con-
c0 stant parameter cp,m (τ1 , . . . ,τm ) as follows:
X nX
ℓ ℓ−m y ,nu p
k1
X Y
y(k) = cp,m (τ1 , . . . ,τp+m ) y(k − τi )
m=0 p=0 τ1 ,τm i=1

Ym
× u(k − τi ) + e(k), (4)
i=1

Figure 1: The model for a magneto-rheological where the third summation is

damper proposed by Spencer et al (1997), used as ny ,nu
X ny
X ny
X nu
X nu
X
a bench test in this paper and also by Du et al. ≡ ··· ··· , (5)
(2006) and Leva and Piroddi (2002). τ1 ,τm τ1 =1 τp =1 τp+1 =d τp+m =d

and the upper limit is ny if the summation refers

where z the hysteretic model output, x the input. to factors in y or nu for factors in u. The model
Spencer et al (1997) used this approach to identify structure can be chosen using orthogonal tech-
the hysteretic component of a magneto-rheological niques (Chen e Billings, 1989).
damper (the variable z of equation 2), coupled Steady-state analysis is accomplished by tak-
with a damping dynamic(c0 and c1 in Figure 1), ing ȳ = y(k − τ ), ∀τ = 1, . . . , ny , ū = u(k −
so that the phenomenological model is composed τ ), ∀τ = d, . . . , nu and in that case equation (4)
by a sum of all effects (damping and hysteretic can be rewritten as
effects). In that case, the model structure was en-
X nX y ,nu
ℓ ℓ−m
!
tirely obtained using white-box approach, whereas
X
ȳ = cp,m (τ1 , . . . ,τp+m ) ȳ p ūm
the parameters were tuned from empirical data. m=0 p=0 τ1 ,τm
The restoring force (f ) depends also on the input ℓ ℓ−m
voltage (E) that governs the damping intensity of
X X
= Σyp um Ωyp um . (6)
c1 and c2 . m=0 p=0

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 Anais do XX Congresso Brasileiro de Automática
Belo Horizonte, MG, 20 a 24 de Setembro de 2014
The constant within the large parenthesis in
equation (6), denoted Σyp um , is the cluster co-
efficient of a set of terms, called term cluster,
indicated by Ωyp um . Terms of the form y p (k −
i)um (k − j) ∈ Ωyp um for m+p ≤ ℓ, where i and
j are any time lags (Aguirre e Billings, 1995). In
words, a term cluster is a set of terms of the same
type and the respective cluster coefficient is the
summation of the coefficients of all the terms of
the corresponding cluster.
To identify the Bouc-Wen model, a NARX
MISO model with three inputs u1 , u2 and u3 was
used. In this case, (6) becomes:
ℓ (ℓ−m)
X X (ℓ−f
X)(ℓ−q)
X
ȳ = Σyp uv1 ua2 um
3
m=0 a=0 v=0 p=0
×Ωyp uv1 ua2 um
3
, (7)
being f = m+a, q = f +v. One of the aims of this
paper is to investigate how these concepts can be
used as an auxiliary tool for structure detection of
NARX models of hysteretic systems.
3 NARX models for Bouc-Wen hysteresis
The phenomenological model for a magneto-
rheological damper, containing a Bouc-Wen hys-
teresis (equation 2) was used as the data gen-
erating system, with integration step equal to
h = 0.002 s. The inputs (displacement x and
the voltage input - E) were generated by low-pass
filtering of two independent realizations of white
Gaussian sequences. It is important to highlight
that a specific data set was generated for identifi-
cation purposes.
3.1 “Classical” structure selection
In our first approach, the data
1500
{y(k), u1 (k), u2 (K), u3 (k)}k=1 were used, where
the output y is the hysteretic force (f ), and the
inputs are u1 the voltage (E), u2 the velocity
(v) and u3 represents the sign of the velocity
(sign[v]). Model structure selection was per-
formed using the ERR criterion together with the
AIC (Akaike Information Criterion) (Korenberg
et al., 1988; Billings et al., 1989). After paremeter
estimation, all resulting models were unstable.
Although the ERR criterion has been used
with great success in a number of cases (Boynton
et al., 2011; Nepomuceno et al., 2007; Billings e
Wei, 2005), some of its shortcomings have been
well reported (Aguirre e Billings, 1995; Piroddi,
2008; Martins et al., 2013). Alternative proce-
dures are available such as the ad hoc proce-
dure suggested in (Leva e Piroddi, 2002) for a
system with hysteresis or the more general ap-
proach based on the SRR (simulation reduction
2053
ratio) (Piroddi, 2008). In the next section a sim-
ple structure selection procedure which is far less
computer intensive than the SRR and that proved
helpful will be described.
3.2 Cluster-based structure selection
An Euler dicretization of the rate independent
property (Eq. 1) yields:
z(k)−z(k−1)
≈ gd [x(k−1),z(k−1),
T
sign (v(k−1))] v(k−1), (8)
or
z(k) ≈ z(k−1) + T gd [x(k−1),z(k−1),
sign (v(k−1))] v(k−1), (9)
where T is the integration step, x the displace-
ment, v the velocity and gd [·] a nonlinear func-
tion. Taking ℓ = 3 , a discretized model for the
hysteretic part of Eq. 2 is
z(k)−z(k−1)
= −γ|v(k−1)|z(k−1)|z(k−1)|
T
−βv(k−1)|z(k−1)|2
+Av(k−1), (10)
which can be written in the form of Eq. 9. In
other words, the discretized Bouc-Wen model for
a MRD (Eq. 10) is a particular case of the dis-
cretized rate independent property (Eq. 9), which
uses only unit-delayed regressors and its combina-
tion.
The discrete rate independent property de-
scribed in (10) indicates that a NARX model for
a Bouc-Wen hysteretic system has to have a func-
tion gd which includes at least unit-delayed re-
gressors of velocity (v), its sign (sign(v)) and the
regressor z(k − 1). To include the external damp-
ing effect and other dynamic, the model should
also have a regressor of E, the input voltage that
controls damping intensity.
In this way, since hysteresis is a quasi-static
behaviour (Ikhouane e Rodellar, 2007), cluster
analysis may be used as a powerful tool to indi-
cate which regressors should compose the discrete
function gd [·], in order to represent a system com-
posed by a Bouc-Wen hysteresis.
It is well-known that in an hysteretic system,
a low-frequency (quasi-static) excitation leads to
a non-linear relationship between input and out-
put, which is different for loading and unloading
(Ismail et al., 2009). The term clusters of a NARX
model are naturally obtained when steady-state
analysis is performed. The following procedure
was used to identify which term clusters should
 Anais do XX Congresso Brasileiro de Automática
Belo Horizonte, MG, 20 a 24 de Setembro de 2014
compose a NARX model for a system with Bouc-
Wen type hysteresis.
A pool of candidate terms is generated with
ny = nu = ℓ = 3. The nonlinearity degree was
chosen in such way that the NARX model has the
same non-linear degree of the Bouc-Wen model
of the benc test (equation 2). The ERR crite-
rion was used to classify, at the beginning, regres-
sors from the set of candidates. Regressors were
inserted sequentially and the model cluster coeffi-
cients were computed for the resulting nested fam-
ily of model structures with increasing number of
terms, as proposed in (Aguirre e Billings, 1995).
If a cluster coefficient tends to zero or oscillates as
the number of model terms increases, this suggests
that the regressors of such a cluster are unneces-
sary for representing the static behaviour. In this
paper a term cluster with zero or oscillating co-
efficient was considered unnecessary to represent
hysteresis.
One aim of the structure selection step is to es-
timate a quasi-static structure, which is expected
to follow the discrete rate independent assumption
(9).
A sign change in the cluster coefficient means
that if that cluster is inserted in the model, two
very different hysteresis curves gd+ [·] and gd− [·]
can be approximated. Clearly, in this case, at least
one of the curves (gd+ [·] or gd− [·], or both) is
spurious, so justifying the exclusion of that term
cluster. Thereby, term clusters that do not have
a sign change or do not tend to zero are the only
ones able to describe the hysteresis.
According to the rate independent property,
the model has only first-order terms. Further,
it is known that hysteresis is a quasi-static be-
haviour. In this sense only first order regressors
of the genuine clusters are chosen to compose the
final model.
For the present case, the reference model
(Eq. 2) also has a dynamic given by c0 and c1 .
Then, in order to get a model valid both for hys-
teresis and dynamic, as the final step, the ERR
was computed for the first-order genuine regres-
sors, selected in the previous step. Then, based
on the AIC, the model size was chosen. Proceed-
ing in this way the number of genuine clusters was
reduced from thirty five to six. As it will be shown
in Section 4 the estimated model structure is at
the same time rather general and simple. In the
whole procedure, as in (Leva e Piroddi, 2002; Du
et al., 2006), the signals were normalized, in order
to reduce numerical conditioning issues.
4 NARX Identification of a Bouc-Wen
model
Using cluster-based approach for structure se-
lection (Section 3), among thirty five candidate
clusters, the only six clusters classified as gen-
2054
uine were: Ω0 , Ωy , Ωu1 , Ωu3 , Ωu2 u1 , Ωu3 u2 y . This
approach considerably reduces the amount of can-
didate regressors and therefore decreases the com-
putational cost.
−1.05
x 10
4
−1.1
AIC
−1.15
−1.2
−1.25
1 2 3 4 5 6
Number of terms
Figure 2: Akaike information criterion (AIC) com-
puted for the sequence of terms selected using the
ERR criterion. The points were connected by lines
for convenience only.
The reduction in the number of candidate
clusters in fact, reduced the size of candidate
terms from 35 to 6, since the present paper only
considers unit-delayed regressors. The AIC crite-
rion was used to determine the model size, which
turned out to be dim(θ) = 4, where θ is the num-
ber of model parameters (Figure 2), hence:
y(k) = 0,8347y(k−1) + 0,0442u3(k−1)
+0,6704u2(k−1)u1 (k−1)
−0,4648u3(k−1)u2 (k−1)y(k−1),(11)
It should be highlighted that, accordingly to the
discrete rate independent property (Eq. 9), the ob-
tained model has to have a unit-delayed output re-
gressor y(k − 1) followed by a nonlinear function
ĝd [E(k−1),y(k−1),sign(v)(k−1)]. The model ob-
tained by the proposed approach (Eq. 11 ) has this
general structure, but much simpler when com-
pared with the Bouc-Wen model for the MRD
(Eq. 2).
For model validation other sets of data were
produced using the Bouc-Wen model. One of
such data sets with the model free run simula-
tion is shown in Figure 3 and 4. Dynamical per-
formance was quantified by the normalized root
mean square error:
v
u PN
u (y(k) − ŷ(k))2
erms = t Pk=1 N
. (12)
2
k=1 (y(k) − ȳ) )
In order to validate the model over a wider
range of operating points, a second validation
data set was generated with sinusoidal signals
 Anais do XX Congresso Brasileiro de Automática
Belo Horizonte, MG, 20 a 24 de Setembro de 2014

Validation 1
1 1.5

1
0.5

0.5
0

Force
Force

−0.5

−0.5

−1
−1

−1.5
0 500 1000 1500 −1.5
Samples 0 500 1000 1500 2000
Samples

Figure 3: First validation data set. (− −) Bouc- Figure 5: Second validation data set. (− −) Bouc-
Wen, (—) identified model (11). Wen, (—) identified model (11).

Validation 1
1

0.5 2

0
Force

Force
−0.5
0
−1
−1
−1.5
−0.6 −0.4 −0.2 0 0.2 0.4 0.6 0.8 1
Displacement −2
−1 −0.5 0 0.5 1
1 Displacement
0.5 2
0
Force

1
−0.5
Force

0
−1

−1.5 −1
−1 −0.8 −0.6 −0.4 −0.2 0 0.2 0.4 0.6 0.8 1
Velocity
−2
−1.5 −1 −0.5 0 0.5 1 1.5
Velocity

Figure 4: Hysteresis of the first validation data

set. (− −) Bouc-Wen, (—) identified model (11). Figure 6: Hysteresis of the second validation data
set. (− −) Bouc-Wen, (—) identified model (11).

of displacement x(t) = sin(2π3t) cm and voltage

E(t) = 0.5 sin(2π0.5t) + 1.6 V (Figure 5 and 6).
the operating regions analysed, having as a great
Finally, a third validation test was performed, advantage its very low complexity, when com-
this time to check how the model reproduces the pared with the model in (Leva e Piroddi, 2002),
main hysteresis loop (Figure 7). (Du et al., 2006) and the Bouc-Wen model of the
Results are shown in Table 1. From the ob- magneto-rheological damper (Eq. 2).
tained values can be concluded that the model rep-
resents quite well the hysteresis and dynamic pre- Also, the obtained model is able to represent
sented by the magneto-rheological damper (Bouc- several hysteresis curves only re-estimating pa-
Wen plus damping dynamic - equation 2). More- rameters, being this another nice feature. Figure
over should be pointed out that the highest mod- 8 shows some examples of hysteresis curves that
elling errors are committed when the hysteresis can be obtained by varying the model parameters.
curve changes its structure. The dashed line represents the nominal hysteresis
curve (given by the model presented in Eq. 11),
Such effect can be explained once the system
whereas the continuous line shows some examples
changes from one hysteretic loop to other at each
of hysteretic curves that may be obtained by ad-
peak, i.e, past values no longer reflect, at that spe-
justing the parameters.
cific time, the current system’s state. After a very
short time and updating past values of inputs and
output, the model identifies the current operating
region of the system (the current hysteresis loop), Table 1: erms computed for first and second vali-
returning its prediction quality. dation data sets.
The performance of the model with four unit- Validation - 1 Validation - 2
delayed regressors is qualitatively and quantita- erms 0.1135 0.0915
tively general and satisfactory. Furthermore, the
model is able to describe the system hysteresis in

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 Anais do XX Congresso Brasileiro de Automática
Belo Horizonte, MG, 20 a 24 de Setembro de 2014

2
Main loop with simply and accuracy. This model is more
suitable for feedforward inverse control purposes,
1
when an estimative of the inverse model is neces-
Force 0
sary.
−1
As a future research topic, it is proposed the
−2
0 50 100 150 200 250 use of the nominal model in a feedforward inverse
Samples
control scenario and model-based control tech-
2
niques where the inverse-model estimative is fre-
1
quently necessary.
Force

−1
Acknowledgement
−2
−1 −0.5 0 0.5 1
Displacement
The authors are thankful to Brazilian agencies
CAPES, FAPEMIG and CNPq.
Figure 7: Nominal model simulation (free run) for
the hysteretic main loop of the Bouc-Wen model. References
The top subfigure represents force time series for
the main loop whereas the bottom subfigure gives Aguirre, L. A. e Billings, S. A. (1995). Im-
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Aguirre, N., Ikhouane, F., Rodellar, J. e Chris-
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Force

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model (11).
5 Conclusions
This paper presented a technique to model
hysteresis described by a Bouc-Wen model, using
a black-box unit-delayed NARX model with four
regressors. More specifically, the concepts of clus-
ter coefficients were used for obtaining a model
based only on empirical data, being this a good
feature of the proposed approach. The obtained
model was able to reproduce the bench test hys-
teretic behaviour (Eq. 2), using a simpler mathe-
matical representation and also several hysteresis
behaviours only re-estimating parameters.
Furthermore, it was observed that magneto-
rheological dampers, usually described by a sys-
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