Title :
On Goursat normal forms, prolongations, and control systems
Author :
Tilbury, D. ; Sastry, S.S.
Author_Institution :
Dept. of Electr. Eng. & Comput. Sci., California Univ., Berkeley, CA, USA
Abstract :
In this paper, the method of exterior differential systems for analyzing nonlinear systems is presented. Conditions are given for converting Pfaffian systems into Goursat normal form, and for converting control systems into Brunovsky form. All of the existing results on feedback linearization for control systems can be restated in the language of Pfaffian systems, and in addition, new conditions for linearizing control systems using dynamic extension are given
Keywords :
control system synthesis; differential equations; feedback; linearisation techniques; nonlinear control systems; Brunovsky form; Goursat normal forms; Pfaffian systems; control systems; dynamic extension; exterior differential systems; feedback linearization; nonlinear systems; prolongations; Algebra; Control system analysis; Control systems; Laboratories; Linear feedback control systems; Mechanical systems; Mobile robots; Nonlinear control systems; Nonlinear systems; Sufficient conditions;
Conference_Titel :
Decision and Control, 1994., Proceedings of the 33rd IEEE Conference on
Conference_Location :
Lake Buena Vista, FL
Print_ISBN :
0-7803-1968-0
DOI :
10.1109/CDC.1994.411123
