Presented in this paper are a tutorial and experimental results for an iter
ative offline parameter identification scheme. The scheme utilizes the conc
ept of sensitivity points to generate the gradient information that is used
in the steepest descent estimation method. An experiment is conducted to i
dentify parameters of a motor drive system in which the motor and load are
connected by a compliant element. Estimated parameter values are also used
in a position control experiment in which measured and designed responses a
re compared.