DocumentCode
2113206
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
fYear
1993
fDate
15-17 Dec 1993
Firstpage
3425
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 1993., Proceedings of the 32nd IEEE Conference on
Conference_Location
San Antonio, TX
Print_ISBN
0-7803-1298-8
Type
conf
DOI
10.1109/CDC.1993.325849
Filename
325849
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