In this paper

the phase space reconstruction of audio time sequences producing by different instruments is discussed based on the nonlinear dynamic theory.The dense ratio

a novel quantitative recurrence parameter

is proposed to describe the difference of wind

string and keyboard instruments in the phase space by analyzing the recursive property of every instrument.In addition

a method of musical instrument family classification is developed using several classification models by combining the dense ratio with traditional timbre features.The experiments indicate that the accuracy of the proposed method is improved by 4%-7% and 3% in the instrument family classification and individual instrument classification

respectively.