Feedback control of multiinput nonlinear systems by extended linearization

Author

Baumann, William T.

Author_Institution

Dept. of Electr. Eng., Virginia Polytech. Inst. & State Univ., Blacksburg, VA, USA

Volume

33

Issue

2

fYear

1988

fDate

2/1/1988 12:00:00 AM

Firstpage

193

Lastpage

197

Abstract

Control of a nonlinear system is addressed by considering its family of linearizations. Given that a family of linear state-feedback controllers has been designed to meet some (linear) control objective, it is shown how these controllers can be pieced together into an overall, nonlinear, state-feedback controller. The resulting closed-loop system has the property that its linearizations are equal to the desired linearly controlled systems. A similar approach can be used to design nonlinear state estimators. The approach is illustrated by applying it to the control of a planar two-link manipulator

Keywords

closed loop systems; feedback; linearisation techniques; multivariable control systems; nonlinear control systems; closed-loop system; linearization; multiinput nonlinear systems; nonlinear state estimators; planar two-link manipulator; state-feedback controller; Automatic control; Control systems; Differential equations; Feedback control; Iterative algorithms; Nonlinear equations; Nonlinear systems; Riccati equations; State feedback; Transmission line matrix methods;

fLanguage

English

Journal_Title

Automatic Control, IEEE Transactions on

Publisher

ieee

ISSN

0018-9286

Type

jour

DOI

10.1109/9.389

Filename

389