Grey-box modelling of a friction-affected dynamical system

In this paper a grey-box model of a nonlinear dynamical system is constructed. This involves using a Gaussian process to emulate model error - the error that arises as a result of flaws in one’s physical-law based model of the system. The work shows how such an approach can be extended towards dynamical systems. Specifically, it is applied to experimental data, obtained from a dynamical system whose response is known to be strongly influenced by friction effects.