NDLI: Exact linearization and zero dynamics

Content Provider	IEEE Xplore Digital Library
Author	Byrnes, C.I. Isidori, A.
Copyright Year	1990
Description	Author affiliation: Dept. of Syst. Sci. & Math., Washington Univ., St. Louis, MO, USA (Byrnes, C.I.)
Abstract	The authors address the problem of designing feedback laws which render a given nonlinear system locally diffeomorphic to a linear and controllable one. The philosophy underlying work on this topic is essentially that if there exists a (natural) choice of output functions such that the system is invertible and the zero dynamics are trivial, then at each point of an open and dense subset of the state space, it is possible to define a dynamic state feedback which renders a given nonlinear system locally diffeomorphic to a linear and controllable one. The authors review this philosophy in more detail, provide a number of interesting additional results, and comment about the problem of establishing verifiable conditions under which output functions satisfying the stated requirements do exist. The concept of zero dynamics and some facts related to system invertibility are reviewed. A number of applications in which this design philosophy was successfully implemented are summarized.<>
Starting Page	2080
Ending Page	2084
File Size	454128
Page Count	5
File Format	PDF
DOI	10.1109/CDC.1990.203990
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1990-12-05
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Control systems Nonlinear dynamical systems Nonlinear systems Linear feedback control systems Nonlinear control systems State-space methods State feedback Mathematics Stress Output feedback
Content Type	Text
Resource Type	Article

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