Title :
Controllability and linearized regulation
Author :
Sontag, Eduardo D.
Author_Institution :
Rutgers University, New Brunswick, NJ, USA
fDate :
10/1/1987 12:00:00 AM
Abstract :
A nonlinear controllable plant, under mild technical conditions, admits a precompensator with the following property: along control trajectories joining pairs of states, the composite system (precompensator plus plant) is, up to first order, isomorphic to a parallel connection of integrators.
Keywords :
Controllability, nonlinear systems; Linear approximation; Nonlinear systems; Control systems; Controllability; Feedback; Interconnected systems; Nonlinear control systems; Nonlinear dynamical systems; Nonlinear systems; Open loop systems; Robots; Servomechanisms;
Journal_Title :
Automatic Control, IEEE Transactions on
DOI :
10.1109/TAC.1987.1104453
