Title :
On dynamic feedback linearization in R4
Author :
Levine, Jean ; Marino, Riccardo
Author_Institution :
Ecole Nat. Superieure des Mines des Paris, Fontainebleau, France
Abstract :
The authors discuss the problem of dynamic feedback linearization for a nonlinear system in R4 with two independent controls: the problem is to determine a dynamic compensator so that the closed loop can be expressed as a linear controllable system in suitable local coordinates in the extended state space. The results so far available give a complete characterization of control systems in R3 and of control systems in which the number of independent controls is equal to the number of states minus one. For general systems necessary and sufficient conditions have been given, but examples in R4 with two controls already show a gap between necessity and sufficiency. This gap is discussed
Keywords :
compensation; control system synthesis; feedback; linearisation techniques; nonlinear control systems; state-space methods; closed loop; dynamic compensator; dynamic feedback linearization; extended state space; linear controllable system; necessary and sufficient conditions; nonlinear system; Control systems; Feedback loop; Linear feedback control systems; Nonlinear control systems; Nonlinear dynamical systems; Nonlinear systems; State feedback; State-space methods; Sufficient conditions; Vectors;
Conference_Titel :
Decision and Control, 1990., Proceedings of the 29th IEEE Conference on
Conference_Location :
Honolulu, HI
DOI :
10.1109/CDC.1990.203992
