Title :
Integrator forwarding control laws for some classes of linearizable feedforward systems
Author :
Rstic, Miroslavk
Author_Institution :
Dept. of Mech. & Aerosp. Eng., California Univ., San Diego, CA, USA
fDate :
June 30 2004-July 2 2004
Abstract :
In a companion paper (Krstic, "Feedforward systems linearizable by coordinate change," ACC\´04) we revealed that the family of feedforward systems contains a substantial class that is linearizable by a diffeomorphic coordinate change. We present two subclasses for which explicit control formulae can be derived. Our procedures follow the general integrator forwarding algorithm of Sepulchre-Jankovic-Kokotovic but avoid the requirements to solve (analytically) a series of nonlinear ODEs and to compute (analytically) a series of integrals with respect to time.
Keywords :
asymptotic stability; control system analysis; feedforward; integral equations; linearisation techniques; nonlinear differential equations; explicit control formulae; integrator forwarding control law; linearizable feedforward system;
Conference_Titel :
American Control Conference, 2004. Proceedings of the 2004
Conference_Location :
Boston, MA, USA
Print_ISBN :
0-7803-8335-4
