Title :
Stable inversion of continuous-time nonlinear systems by finite-difference methods
Author :
Taylor, David G. ; Li, Song
Author_Institution :
Sch. of Electr. & Comput. Eng., Georgia Inst. of Technol., Atlanta, GA, USA
fDate :
3/1/2002 12:00:00 AM
Abstract :
Introduces finite-difference methods for stable inversion of continuous-time nonlinear systems. A relationship between the new finite-difference methods and the existing Picard methods is established. A damped Newton finite-difference method is shown to possess superior convergence properties, and its effectiveness is illustrated with an inverted pendulum example
Keywords :
Newton method; boundary-value problems; continuous time systems; convergence of numerical methods; finite difference methods; nonlinear control systems; pendulums; Picard methods; boundary-value problems; continuous-time nonlinear systems; convergence properties; damped Newton method; finite-difference methods; inverted pendulum; nonminimum-phase systems; output tracking; stable inversion; Convergence; Difference equations; Discrete Fourier transforms; Finite difference methods; Interpolation; Nonlinear systems; Relaxation methods; Trajectory;
Journal_Title :
Automatic Control, IEEE Transactions on
