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After estimating a nonlinear ARX model for your system, you can validate whether it reproduces the system behavior within acceptable bounds. You can validate your model in different ways. It is recommended that you use separate data sets for estimating and validating your model. If the validation indicates low confidence in the estimation, then see Troubleshooting Model Estimation for next steps. For general information about validating models, see Model Validation.

Plot simulated or predicted model output and measured output
data for comparison, and compute best fit values. At the command line,
use `compare`

command. You can
also use `sim`

and `predict`

to simulate and predict model
response. For information about plotting simulated and predicted output
in the app, see Simulation and Prediction in the App.

The estimation report that is generated after model estimation lists the reason the software terminated the estimation. For example, suppose that the report indicates that the estimation reached the maximum number of iterations. You can try repeating the estimation by specifying a larger value for the maximum number of iterations. For information about how to configure the maximum number of iterations and other estimation options, see Specify Estimation Options for Nonlinear ARX Models.

To view the estimation report in the app, after model estimation is complete, view the
**Estimation Report** area of the **Estimate**
tab. At the command line, use `M.Report.Termination`

to display the
estimation termination conditions, where `M`

is the estimated
Nonlinear ARX model. For example, check the
`M.Report.Termination.WhyStop`

field that describes why the
estimation was stopped.

For more information about the estimation report, see Estimation Report.

You can compare the performance of several estimated models by comparing the final prediction error and loss function values that are shown in the estimation report.

To view these values for an estimated model `M`

at
the command line, use the `M.Report.Fit.FPE`

(final
prediction error) and `M.Report.Fit.LossFcn`

(value
of loss function at estimation termination) properties. Smaller values
typically indicate better performance. However, `M.Report.Fit.FPE`

values
can be unreliable when the model contains many parameters relative
to the estimation data size. Use these indicators with other validation
techniques to draw reliable conclusions.

*Residuals* are differences between the model
output and the measured output. Thus, residuals represent the portion
of the output not explained by the model. You can analyze the residuals
using techniques such as the whiteness test and the independence test.
For more information about these tests, see What Is Residual Analysis?.

At the command line, use `resid`

to
compute, plot, and analyze the residuals. To plot residuals in the
app, see How to Plot Residuals in the App.

A nonlinear ARX plot displays the evaluated model nonlinearity for a chosen
model output as a function of one or two model regressors. For a model `M`

,
the model nonlinearity (`M.Nonlinearity`

) is a nonlinearity estimator
function, such as `idWaveletNetwork`

, `idSigmoidNetwork`

, or `idTreePartition`

, that uses model regressors as
its inputs.

To understand what is plotted, suppose that `{r1,r2,…,rN}`

are
the `N`

regressors used by a nonlinear ARX model `M`

with
nonlinearity `nl`

corresponding to a model output.
You can use `getreg(M)`

to view these regressors.
The expression `Nonlin = evaluate(nl,[v1,v2,...,vN])`

returns
the model output for given values of these regressors, that is, `r1`

= `v1`

, `r2`

= `v2`

,
..., `rN`

= `vN`

. For plotting the
nonlinearities, you select one or two of the `N`

regressors,
for example, `rsub = {r1,r4}`

. The software varies
the values of these regressors in a specified range, while fixing
the value of the remaining regressors, and generates the plot of `Nonlin`

vs. `rsub`

.
By default, the software sets the values of the remaining fixed regressors
to their estimated means, but you can change these values. The regressor
means are stored in the `Nonlinearity.Parameters.RegressorMean`

property
of the model.

Examining a nonlinear ARX plot can help you gain insight into which regressors have the strongest effect on the model output. Understanding the relative importance of the regressors on the output can help you decide which regressors to include in the nonlinear function for that output. If the shape of the plot looks like a plane for all the chosen regressor values, then the model is probably linear in those regressors. In this case, you can remove the corresponding regressors from nonlinear block, and repeat the estimation.

Furthermore, you can create several nonlinear models for the same data using different
nonlinearity estimators, such a `idWaveletNetwork`

network and
`idTreePartition`

, and then compare the nonlinear surfaces of these
models. Agreement between plots for various models increases the confidence that these
nonlinear models capture the true dynamics of the system.

To create a nonlinear ARX plot in the **System Identification** app,
select the **Nonlinear ARX** check box in the **Model
Views** area. To include or exclude a model on the plot,
click the corresponding model icon in the app. For general information
about creating and working with plots in the app, see Working with Plots.

At the command line, after you have estimated a nonlinear ARX
model `M`

, use `plot`

to view the shape of the nonlinearity.

plot(M)

You can use additional `plot`

arguments to
specify the following information:

Include multiple nonlinear ARX models on the plot.

Configure the regressor values for computing the nonlinearity values.

To configure the nonlinear ARX plot:

Select the output channel in the

**Select nonlinearity at output**drop-down list. The nonlinearity values that correspond to the selected output channel are displayed.Select

**Regressor 1**from the list of available regressors. In the**Range**field, enter the range of values to include on the plot for this regressor. The regressor values are plotted on the**Reg1**axis of the plot.If the regressor selection options are not visible, click to expand the Nonlinear ARX Model Plot window.

Specify

**Regressor 2**as one of the following options:To display three axes on the plot, select

**Regressor 2**. In the**Range**field, enter the range of values to include on the plot for this regressor. The regressor values are plotted on the**Reg2**axis of the plot.To display only two axes, select

`<none>`

in the**Regressor 2**list.

Fix the values of the regressors that are not displayed by clicking

**Fix Values**. In the Fix Regressor Values dialog box, double-click the**Value**cell to edit the constant value of the corresponding regressor. The default values are determined during model estimation. Click**OK**.

If you generate the nonlinear ARX plot in the app, you can perform the following additional tasks:

Action | Procedure |
---|---|

Change the grid spacing of the regressors along each axis. | In the plot window, select For example, if the number of samples is 20, each regressor variable contains 20 points in its specified range. For a 3-D plots, this results in evaluating the nonlinearity at 20 x 20 = 400 points. |

Change axis limits. | Select |

Hide or show the plot legend. | Select Style > Legend. Select this option again to show the legend. |

Rotate in three dimensions.
Available only when you have selected two regressors as independent variables. | Select Style > Rotate
3D and drag the axes on the plot to a new
orientation. To disable three-dimensional rotation, select Style > Rotate 3D again. |

`compare`

| `sim`

| `resid`

| `predict`