cannot be written down or analysed. It is therefore very difficult to know what is causing what, to analyse the model, or to compute dynamic characteristics from the model. Some of these points will not be relevant to all applications but they are for dynamic modelling.

NARMAX methods

The nonlinear autoregressive moving average model with exogenous inputs (NARMAX model) can represent a wide class of nonlinear systems, and is defined as

: where y(k), u(k) and e(k) are the system

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