The application of extended inverse dynamics control

This work deals with the application of extended inverse dynamic control to a given constrained control problem. By choosing an extended inverse dynamic control the system is partially linearized leading to a representation of the system which consists of a double integrator system and a complementary nonlinear system. This representation looks to be more suitable for the solution of constrained control problems, rather than, the representation given at the outset. This is demonstrated by solving an example concerning the constrained motion of an articulated crane.