Inthispaper,amethodtoidentifyallphysicallyrelevantparametersandnonlinearcharacteristicsofamechatronicsystemispresented.Forthispurpose,theaprioriknownsystemstructureisused.Asanexample,anonlineartwo-masssystemwithfrictionandbacklashisidentified.Thisapproachisenhancedtoidentifysystemsw