Tension leg platform system

The present study of tension leg platform is the first commercial application of a revolutionary design of offshore production platform developed by well-known oil company. Intended for oil and gas production in water depths beyond the reach of traditional fixed structures, the tension leg platform was designed as a rectangular shaped floating platform which was connected to the ocean floor by 16 vertical steel tethers or legs, four per corner. The legs were kept in tension so that vertical movement was suppressed, while limited horizontal movement may occur.

The estimation model is:

$$\begin{align*} y(k) &= 0.590y(k − 3)+1.0598y(k − 1) − 1.0931y(k − 2) + 121.13u(k − 1)u(k− 1)u(k − 9) \\ &− 116.54u(k − 6)u(k − 6)u(k− 6) − 19.797u(k − 4)u(k − 8)u(k − 8) \\ &+ 214.04u(k − 5)u(k − 9) − 34.877u(k− 1)u(k − 1)u(k − 1) − 3.7983u(k − 1)u(k− 2)u(k − 7) \\ &− 25.04u(k − 4)u(k − 8)u(k− 11) + 165.93u(k − 2)u(k − 3)u(k − 4) \\ &− 173.85u(k − 6)u(k − 7) − 69.693u(k− 4)u(k − 12) + 203.12u(k − 5)u(k − 6)u(k − 6) \\ &+ 727.86u(k − 2)u(k − 3)u(k − 5) − 11.107u(k− 3)u(k − 10)u(k − 11) \\ &+ 11.506u(k − 6)u(k− 6)u(k − 12) − 68.607u(k − 2)u(k − 4)u(k− 6) \\ &− 366.75u(k − 3)u(k − 5)u(k − 6)− 25.696u(k − 4)u(k − 8)u(k − 12) \\ &+ 137.86u(k − 1)u(k − 2)u(k − 5)− 142.24u(k − 2)u(k − 2)u(k − 9) \\ &+ 101.44u(k− 1)u(k − 6)u(k − 9) − 9.0283u(k − 3)u(k− 3)u(k − 12) \\ &− 168.30u(k − 2)u(k − 5)u(k − 6)+ 30.295u(k − 5)u(k − 6)u(k − 8) \\ &− 0.158u(k− 1)u(k − 2)u(k − 2) − 433.21u(k − 2)u(k− 2)u(k − 4) \\ &+ 39.88u(k − 3)u(k − 8)u(k − 11)− 162.26u(k − 1)u(k − 4)u(k − 11) \\ &− 212.08u(k− 1)u(k − 1)u(k − 5) − 438.7u(k − 3)u(k− 3)u(k − 5) \\ &+ 162.15u(k − 2)u(k − 4)u(k − 11)− 3.607u(k − 4)u(k − 4)u(k − 11) \\ &+ 13.262u(k− 6)u(k − 9)u(k − 9)+448.4u(k − 3)u(k − 4)u(k− 6) \\ &− 46.475u(k − 4)u(k − 4)u(k − 9) + 119.95u(k − 1)u(k − 1)u(k − 2) + noise \:terms. \end{align*}$$

Here, the input is the wave, and the output is the pitch. Sample rate is 2.2473 Hz