Title :
Feedback control of multiinput nonlinear systems by extended linearization
Author :
Baumann, William T.
Author_Institution :
Dept. of Electr. Eng., Virginia Polytech. Inst. & State Univ., Blacksburg, VA, USA
fDate :
2/1/1988 12:00:00 AM
Abstract :
Control of a nonlinear system is addressed by considering its family of linearizations. Given that a family of linear state-feedback controllers has been designed to meet some (linear) control objective, it is shown how these controllers can be pieced together into an overall, nonlinear, state-feedback controller. The resulting closed-loop system has the property that its linearizations are equal to the desired linearly controlled systems. A similar approach can be used to design nonlinear state estimators. The approach is illustrated by applying it to the control of a planar two-link manipulator
Keywords :
closed loop systems; feedback; linearisation techniques; multivariable control systems; nonlinear control systems; closed-loop system; linearization; multiinput nonlinear systems; nonlinear state estimators; planar two-link manipulator; state-feedback controller; Automatic control; Control systems; Differential equations; Feedback control; Iterative algorithms; Nonlinear equations; Nonlinear systems; Riccati equations; State feedback; Transmission line matrix methods;
Journal_Title :
Automatic Control, IEEE Transactions on
