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Abstract: In this paper, the problem of clustering based procedure for the identification of PieceWise Auto-Regressive eXogenous (PWARX) models is addressed. This problem involves both the estimation of the parameters of the affine sub-models and the hyperplanes defining the partitions of the state-input regression. In fact, we propose the use of the Chiu's clustering algorithm in order to overcome the main drawbacks of the existing methods which are the poor initialization and the presence of outliers. In addition, our approach is able to generate automatically the number of sub-models. Simulation results are presented to illustrate the performance of the proposed method. An application of the developed approach to an olive oil esterification reactor is also suggested in order to validate simulation results. [Copyright &y& Elsevier]