A numerical approach to approximate feedback linearization

Author

Deutscher, Joachim ; Schmid, Christian

Author_Institution

Lehrstuhl fur Regelungstechnik, Univ. Erlangen-Nurnberg, Erlangen

fYear

2006

fDate

4-6 Oct. 2006

Firstpage

1934

Lastpage

1939

Abstract

This contribution presents a numerical approach to approximate feedback linearization which transforms a single input nonlinear system into an approximately linear system. Linear matrix equations are explicitly derived for determining the nonlinear change of coordinates and the nonlinear feedback that approximately linearize the nonlinear system. If these linear matrix equations are not solvable a least square solution by applying the Moore-Penrose inverse is proposed. The results of the paper are illustrated by the approximate feedback linearization of an inverted pendulum on a cart

Keywords

feedback; linear matrix inequalities; linear systems; linearisation techniques; nonlinear control systems; Moore-Penrose inverse; approximate feedback linearization; inverted pendulum; linear matrix equations; linear system; nonlinear system; Control systems; Least squares approximation; Least squares methods; Linear approximation; Nonlinear control systems; Nonlinear equations; Nonlinear systems; State feedback; Taylor series; Transforms;

fLanguage

English

Publisher

ieee

Conference_Titel

Computer Aided Control System Design, 2006 IEEE International Conference on Control Applications, 2006 IEEE International Symposium on Intelligent Control, 2006 IEEE

Conference_Location

Munich

Print_ISBN

0-7803-9797-5

Electronic_ISBN

0-7803-9797-5

Type

conf

DOI

10.1109/CACSD-CCA-ISIC.2006.4776936

Filename

4776936