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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Tyner, D.R. Lewis, A.D. |
| Copyright Year | 2003 |
| Description | Author affiliation: Math. & Stat., Queen's Univ., Kingston, Ont., Canada (Tyner, D.R.; Lewis, A.D.) |
| Abstract | Linearisation is a common technique in control applications, putting useful analysis and design methodologies at the disposal of the control engineer. In this paper, linearisation is studied from a differential geometric perspective. First it is pointed out that the "naive" Jacobian techniques do not make geometric sense along nontrivial reference trajectories, in that they are dependent on a choice of coordinates. A coordinate-invariant setting for linearisation is presented to address this matter. The setting here is somewhat more complicated than that seen in the naive setting. The controllability of the geometric linearisation is characterised by giving an alternate version of the usual controllability test for time-varying linear systems. The problems of stability, stabilisation, and quadratic optimal control are discussed as topics for future work. |
| Sponsorship | Honeywell Lab. Xerox Nat. Instruments Math Works |
| Starting Page | 6084 |
| Ending Page | 6089 |
| File Size | 501807 |
| Page Count | 6 |
| File Format | |
| ISBN | 0780379241 |
| ISSN | 01912216 |
| DOI | 10.1109/CDC.2003.1272230 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2003-12-09 |
| Publisher Place | USA |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Jacobian matrices Control systems Optimal control Mathematics Statistical analysis Controllability Control theory Design methodology Design engineering System testing |
| Content Type | Text |
| Resource Type | Article |
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