This dataset was created to provide measurements of a non-linear dynamic system with multiple input and output signal channels for the developement and testing of virtual sensing and forward prediction algorithms. It also includes predictions of a frequency response function model, which can be used as a benchmark for comparison with novel algorithmic approaches. The dataset contains measurements from a three-component servo-hydraulic fatigue test bench for suspension hydro-mounts. The sensor setup of this test bench consists of 3 inertia compensated force and 3 displacement sensors. Various non-linear influences affect the system behavior. The hydro-mounts are filled with oil to provide highly non-linear dampening, while the pendulum kinematics of the test bench introduce non-linear interactions between the excitations in different spatial directions. The most impactful non-linearity results from the system stiffness.

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