Feedback control of multiinput nonlinear systems by extended linearization
- 1 January 1988
- journal article
- Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE Transactions on Automatic Control
- Vol. 33 (2), 193-197
- https://doi.org/10.1109/9.389
Abstract
Control of a nonlinear system is addressed by considering its family of linearizations. Given that a family of linear state-feedback controllers has been designed to meet some (linear) control objective, it is shown how these controllers can be pieced together into an overall, nonlinear, state-feedback controller. The resulting closed-loop system has the property that its linearizations are equal to the desired linearly controlled systems. A similar approach can be used to design nonlinear state estimators. The approach is illustrated by applying it to the control of a planar two-link manipulator.Keywords
This publication has 4 references indexed in Scilit:
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- A stability propertyIEEE Transactions on Automatic Control, 1986
- Feedback control of nonlinear systems by extended linearizationIEEE Transactions on Automatic Control, 1986
- About the local linearization of nonlinear systemsPublished by Institute of Electrical and Electronics Engineers (IEEE) ,1985