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A self-starting multistage, time-domain procedure is presented for the identification of nonlinear, multi-degree-of-freedom systems undergoing free oscillations or subjected to arbitrary direct force excitations and/or nonuniform support motions. Recursive least-squares parameter estimation methods combined with non-parametric identification techniques are used to represent, with sufficient accuracy, the identified system in a form that allows the convenient prediction of its transient response under excitations that differ from the test signals. The utility of this procedure is demonstrated in a companion paper.

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