Many systems exhibit a quasi linear or weakly nonlinear behavior during normal operation,
and a hard saturation effect for high peaks of the input signal. The proposed benchmark is
an example of this type of nonlinear system. On top of this, only a short data record is
available for the parameter estimation step. The next sections describe the cascaded tanks
system (Section 2) and introduce the estimation and test data (Section 3). The figures of
merit that are used in this benchmark are presented in Section 4. Finally, some of the …