Inertia parameter identification using system identification toolbox

Hello,

I am trying to do parameter estimation of a 4-bar link dynamic system driven by motor. Using the input to the system (PWM applied to motor) and output of the system (angle of the output joint measred by an encoder) is there a way to identify inertia parameter of this system using system identification toolbox? Or is there any other toolbox which can do this better?

[Ayman]

Do you get an answer?.I also need this .