Structures joined by lap-joints can present complex nonlinear dynamic behavior as a function of the stress to which the lap-joint is subjected, including contact stiffness variations and softening, along with hysteresis effects related to frictional dissipation at the contact interface. Considering applications where the use of non-parametric models that depend only on input and output data is required, this work proposes and details the GP-NARX model's use to approximate systems' dynamics with hysteresis. Initially, the proposed model's predictive applicability is evaluated on a numerical application involving the Bouc-Wen oscillator with hysteretic damping. Then, this work proposes a GP-NARX model to describe the dynamics of the BERT benchmark, an experimen-
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