Feedback control of nonlinear systems by extended linearization
- 1 January 1986
- journal article
- Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE Transactions on Automatic Control
- Vol. 31 (1), 40-46
- https://doi.org/10.1109/tac.1986.1104100
Abstract
For single-input, multiple-output, nonlinear systems, we consider a design method based on the family of linearizations of the system, parameterized by constant operating points. Nonlinear state feedback control laws and observer/state feedback control laws are designed such that the eigenvalues of the family of linearized closed-loop systems are placed at specified values that are locally invariant with respect to the closed-loop operating point. The method is illustrated by application to the problem of automatically balancing an inverted pendulum.Keywords
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