A geometric characterization of feedforward forms

Author

Astolfi, A. ; Kaliora, G.

Author_Institution

Electr. Eng. Dept., Imperial Coll. London, UK

Volume

50

Issue

7

fYear

2005

fDate

7/1/2005 12:00:00 AM

Firstpage

1016

Lastpage

1021

Abstract

This note addresses the problem of (local) coordinates and feedback equivalence of single-input affine nonlinear systems to feedforward forms. In particular, using the notions of invariant and controlled invariant distributions we provide necessary and sufficient conditions for a general affine in control nonlinear system to be (locally) coordinates or feedback equivalent to a system in (strict) feedforward form. For illustration, the general theory is applied to a simple four-dimensional system describing the dynamics of a food-chain.

Keywords

feedback; feedforward; geometry; nonlinear control systems; controlled invariant distributions; feedback equivalence; feedforward forms; food-chain dynamics; four-dimensional system; geometric characterization; local coordinates; single-input affine nonlinear systems; Backstepping; Control systems; Feedforward systems; Friction; Nonlinear control systems; Nonlinear dynamical systems; Nonlinear systems; Polynomials; State feedback; Sufficient conditions; Coordinates equivalence; feedback equivalence; feedforward systems; invariant distributions;

fLanguage

English

Journal_Title

Automatic Control, IEEE Transactions on

Publisher

ieee

ISSN

0018-9286

Type

jour

DOI

10.1109/TAC.2005.851446

Filename

1463308