Singularity in dynamic state feedback linearization

Author

Baumann, T. ; Srinivasan, B. ; Longchamp, R.

Author_Institution

Inst. d´´Autom., Ecole Polytechnique Fed. de Lausanne, Switzerland

Volume

1

fYear

1997

fDate

10-12 Dec 1997

Firstpage

12

Abstract

The dynamic state feedback linearization of a nonlinear system, using the special class of compensators proposed by Charlet-Levine-Marine (1991), referred to as prolongations, is considered. Generally dynamic state feedback linearizability is studied around the origin of the extended system state space and hence does not guarantee linearizability of the considered system around its “physical” origin, which involves only the original non-extended state variables. An attempt to shed light on this problem is given in the form of necessary conditions, which guarantee linearizability of a nonlinear system around the origin of the original state space, when dynamic state feedback linearizability in the extended state space is assured. Furthermore, sufficient conditions relating closely to those of dynamic state feedback linearizability via prolongations are given

Keywords

compensation; controllability; linearisation techniques; nonlinear systems; state feedback; state-space methods; controllability; dynamic compensation; dynamic state feedback linearization; linearizability; necessary conditions; nonlinear system; singularity; state space; sufficient conditions; Control systems; Controllability; Linear feedback control systems; Linear systems; Nonlinear dynamical systems; Nonlinear systems; State feedback; State-space methods; Sufficient conditions; Time varying systems;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 1997., Proceedings of the 36th IEEE Conference on

Conference_Location

San Diego, CA

ISSN

0191-2216

Print_ISBN

0-7803-4187-2

Type

conf

DOI

10.1109/CDC.1997.650580

Filename

650580