Title :
Applications and extensions of Goursat normal form to control of nonlinear systems
Author :
Murray, Richard M.
Author_Institution :
Div. of Eng. & Appl. Sci., California Inst. of Technol., Pasadena, CA, USA
Abstract :
The Goursat normal form theorem gives conditions under which a Pfaffian exterior differential system is equivalent to a certain normal form. This paper details how the Goursat normal form and its extensions provide a unified framework for understanding feedback linearization, chained form, and differential flatness
Keywords :
differential geometry; feedback; linearisation techniques; nonlinear control systems; Goursat normal form; Pfaffian exterior differential system; chained form; differential flatness; feedback linearization; nonlinear systems; Control systems; Control theory; Equations; Filtration; Kernel; Linear feedback control systems; Nonlinear control systems; Nonlinear systems; Observability; State feedback;
Conference_Titel :
Decision and Control, 1993., Proceedings of the 32nd IEEE Conference on
Conference_Location :
San Antonio, TX
Print_ISBN :
0-7803-1298-8
DOI :
10.1109/CDC.1993.325849
