Displaying similar documents to “Linearization by completely generalized input-output injection”

Transformation of nonlinear state equations into the observer form: Necessary and sufficient conditions in terms of one-forms

Vadim Kaparin, Ülle Kotta (2015)

Kybernetika

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Necessary and sufficient conditions are given for the existence of state and output transformations, that bring single-input single-output nonlinear state equations into the observer form. The conditions are formulated in terms of differential one-forms, associated with an input-output equation of the system. An algorithm for transformation of the state equations into the observer form is presented and illustrated by an example.

Rotary inverted pendulum: trajectory tracking via nonlinear control techniques

Luis E. Ramos-Velasco, Javier Ruiz, Sergej Čelikovský (2002)

Kybernetika

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The nonlinear control techniques are applied to the model of rotary inverted pendulum. The model has two degrees of freedom and is not exactly linearizable. The goal is to control output trajectory of the rotary inverted pendulum asymptotically along a desired reference. Moreover, the designed controller should be robust with respect to specified perturbations and parameters uncertainties. A combination of techniques based on nonlinear normal forms, output regulation and sliding mode...

Structurally stable design of output regulation for a class of nonlinear systems

Celia Villanueva-Novelo, Sergej Čelikovský, Bernardino Castillo-Toledo (2001)

Kybernetika

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The problem of output regulation of the systems affected by unknown constant parameters is considered here. The main goal is to find a unique feedback compensator (independent on the actual values of unknown parameters) that drives a given error (control criterion) asymptotically to zero for all values of parameters from a certain neighbourhood of their nominal value. Such a task is usually referred to as the structurally stable output regulation problem. Under certain assumptions, such...

Realization of nonlinear input-output equations in controller canonical form

Arvo Kaldmäe, Ülle Kotta (2018)

Kybernetika

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In this paper necessary and sufficient conditions are given which guarantee that there exists a realization of a set of nonlinear higher order differential input-output equations in the controller canonical form. Two cases are studied, corresponding respectively to linear and nonlinear output functions. The conditions are formulated in terms of certain sequence of vector spaces of differential 1-forms. The proofs suggest how to construct the transformations, necessary to obtain the specific...

Estimation of the output deviation norm for uncertain, discrete-time nonlinear systems in a state dependent form

Przemysław Orłowski (2007)

International Journal of Applied Mathematics and Computer Science

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Numerical evaluation of the optimal nonlinear robust control requires estimating the impact of parameter uncertainties on the system output. The main goal of the paper is to propose a method for estimating the norm of an output trajectory deviation from the nominal trajectory for nonlinear uncertain, discrete-time systems. The measure of the deviation allows us to evaluate the robustness of any designed controller. The first part of the paper concerns uncertainty modelling for nonlinear...