Title :
Maximal feedback linearization with internal stability over ℝ4
Author :
Li, Shun-Jie ; Moog, Claude H.
Author_Institution :
IRCCyN, Nantes, France
Abstract :
Nonlinear systems over R include celebrated mechanical systems as the Acrobat, the Pendubot, the Ball and Beam, the invertible wheel pendulum. This paper derives general results for the classification of accessible single-input systems over ℝ4. Those results are instrumental for the stabilization: according to structural properties, a dummy output function is computed, whenever it exists, with asymptotically stable zero dynamics.
Keywords :
asymptotic stability; beams (structures); feedback; nonlinear control systems; pendulums; accessible single-input system classification; acrobat; asymptotic stability; ball; beam; dummy output function; internal stability; invertible wheel pendulum; maximal feedback linearization; mechanical system; nonlinear system; pendubot; zero dynamics; Asymptotic stability; Equations; Mathematical model; Mechanical systems; Nonlinear dynamical systems; Wheels; Internal stability; Maximal feedback linearization; Nonlinear control systems; Zero dynamics;
Conference_Titel :
Control Conference (CCC), 2011 30th Chinese
Conference_Location :
Yantai
Print_ISBN :
978-1-4577-0677-6
Electronic_ISBN :
1934-1768
