DocumentCode
3262366
Title
From nonlinear to Hamiltonian via feedback
Author
Tabuada, Paulo ; Pappas, George J.
Author_Institution
Dept. of Electr. & Syst. Eng., Pennsylvania Univ., Philadelphia, PA, USA
Volume
2
fYear
2002
fDate
10-13 Dec. 2002
Firstpage
1515
Abstract
Mechanical control systems are a very important class of nonlinear control systems. They possess a rich mathematical structure which can be extremely important for the solution of various control problems. We expand the applicability of design methodologies developed for mechanical control systems by locally rendering nonlinear control systems, mechanical by a proper choice of feedback. In particular, we characterize control systems which can be transformed to Hamiltonian control systems by a local feedback transformation.
Keywords
control system synthesis; feedback; nonlinear control systems; Hamiltonian control systems; design methodologies; local feedback transformation; mechanical control systems; nonlinear control systems; Control system synthesis; Control systems; Controllability; Design methodology; Feedback control; Geometry; Mechanical systems; Nonlinear control systems; Systems engineering and theory; Testing;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 2002, Proceedings of the 41st IEEE Conference on
ISSN
0191-2216
Print_ISBN
0-7803-7516-5
Type
conf
DOI
10.1109/CDC.2002.1184734
Filename
1184734
Link To Document