This study addresses the identification of autonomous nonlinear systems. It is assumed that the function form in the nonlinear system is known, leaving some unknown parameters to be estimated. It is also assumed that the free responses of the system can be measured. Since Haar wavelets can form a complete orthogonal basis for the appropriate function space, they are used to expand all signals. In doing so, the state equation can be transformed into a set of algebraic equations in unknown parameters. The technique of Kronecker product is utilized to simplify the expressions of the associated algebraic equations. Together with the least square method, the unknown system parameters are estimated. Several simulation examples verify the analysis.

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