Title :
Multi-input control systems: Explicit feedback linearization
Author :
Tall, Issa Amadou
Author_Institution :
Southern Illinois Univ. Carbondale, Carbondale, IL, USA
Abstract :
The problem of feedback linearization of multi-input nonlinear control systems via feedback transformations is addressed. Necessary and sufficient geometric conditions were provided in the early eighties stating that a certain distribution has to be full rank and involutive. However, finding the linearizing coordinates is subject to solving a set of partial differential equations. In this paper we provide an algorithm allowing to compute explicitly the linearizing feedback transformation. The algorithm is performed using a maximum of n - 1 steps (n being the dimension of the system) and is made possible by extending the explicit solvability of the Flow-box to the Frobénius theorem. Several examples are provided.
Keywords :
MIMO systems; feedback; linearisation techniques; nonlinear control systems; partial differential equations; Frobenius theorem; explicit feedback linearization; flow box; multiinput nonlinear control systems; partial differential equations; solvability; Controllability; Iterative algorithm; MIMO; Partial differential equations; Transforms; USA Councils;
Conference_Titel :
Decision and Control (CDC), 2010 49th IEEE Conference on
Conference_Location :
Atlanta, GA
Print_ISBN :
978-1-4244-7745-6
DOI :
10.1109/CDC.2010.5718132