Harmonic-Balance-Based parameter estimation of nonlinear structures in the presence of Multi-Harmonic response and force

•A nonlinear system identification method using Harmonic Balance is developed.•The proposed method is capable of accurately identifying non-smooth nonlinearity.•The performance of proposed method is demonstrated numerically and experimentally.•The method can deal with the effects of higher harmonics in input force and outputs.•The effect of model error and measurement noise in the proposed method is shown.