The paper deals with dynamic feedback linearization of multi input continuous time affine systems. The geometric properties of a dynamic feedback linearizable system as well as those of the compensator which achieves linearization are here enlightened. On the basis of these geometric properties an algorithm for the computation of a dynamic feedback obtained from the composition of regular static state feedback laws and integrators is proposed. Our result is based on the geometric approach introduced by Isidori and coworkers in 1981 for dealing with nonlinear control problems.
A geometric approach to dynamic feedback linearization / Battilotti, Stefano; Califano, Claudia. - STAMPA. - (2008), pp. 397-411. [10.1007/978-3-540-74358-3_23].
A geometric approach to dynamic feedback linearization
BATTILOTTI, Stefano
;CALIFANO, Claudia
2008
Abstract
The paper deals with dynamic feedback linearization of multi input continuous time affine systems. The geometric properties of a dynamic feedback linearizable system as well as those of the compensator which achieves linearization are here enlightened. On the basis of these geometric properties an algorithm for the computation of a dynamic feedback obtained from the composition of regular static state feedback laws and integrators is proposed. Our result is based on the geometric approach introduced by Isidori and coworkers in 1981 for dealing with nonlinear control problems.| File | Dimensione | Formato | |
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