Decoupling and feedback linearization via a portable symbolic code Original Research Article

In response to a possible need of industry to perform the automatic symbolic generation of feedback laws on computers, this paper presents a generator which is based on FORM, i.e., a symbolic math code. The version 1.0 is used to derive automatically the non-linear control laws leading to decoupling and exact linearization by feedback. To run the program, the user entries are the dynamics of the system, the non-linear output vector to be controlled and the underlying characteristic numbers. Finally, as this code works sequentially, there is no limitation of the size of physical systems to be handled by this program, even when using PCs.