Title :
On Equivalence and Feedback Equivalence to Finitely Computable Sampled Models
Author :
Giamberardino, P. Di ; Monaco, S. ; Normand-Cyrot, D.
Author_Institution :
Dipt. di Informatica e Sistemistica "Antonio Ruberti", Universita di Roma "La Sapienza"
Abstract :
The paper deals with the finiteness of the series expansions representing the sampled model of a nonlinear plant after coordinates transformation and state feedback. Such a property makes the computation of the exact sampled model possible by finite calculations: "finite computability". Necessary and sufficient conditions are given for the class of controllable driftless dynamics. Some constructive approaches to the computation of the solutions are discussed. The results are extended to the class of underactuated mechanical systems
Keywords :
computability; nonlinear systems; sampled data systems; state feedback; controllable driftless dynamics; coordinates transformation; exact sampled model; feedback equivalence; finite calculation; finite computability; finitely computable sampled models; nonlinear plant; state feedback; underactuated mechanical system; Context modeling; Legged locomotion; Linear feedback control systems; Mechanical systems; Mobile robots; Orbital robotics; Robot kinematics; State feedback; Sufficient conditions; USA Councils;
Conference_Titel :
Decision and Control, 2006 45th IEEE Conference on
Conference_Location :
San Diego, CA
Print_ISBN :
1-4244-0171-2
DOI :
10.1109/CDC.2006.377699
