Algebraic methods for nonlinear control systems by Giuseppe Conte, Claude H. Moog, Anna Maria Perdon

By Giuseppe Conte, Claude H. Moog, Anna Maria Perdon

This is a self-contained creation to algebraic keep watch over for nonlinear platforms appropriate for researchers and graduate scholars. it's the first ebook facing the linear-algebraic method of nonlinear regulate platforms in this type of targeted and large model. It offers a complementary method of the extra conventional differential geometry and bargains extra simply with a number of very important features of nonlinear systems.

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Dy (r−1) ; dy11 , . . , dy1111 } be a basis for (i) X21 := X1 + Hs+2 ∩ spanK {dy11 , i ≥ 0} where r11 = dimX21 − dimX1 . (i) • If Hs+2 ∩ spanK {dy12 , i ≥ 0} = 0, then stop! (r11 −1) (r −1) ; dy12 , . . , dy1212 } be a basis for • Let {dy, . . 8 Affine Realizations 35 (i) X2 := X21 + Hs+2 ∩ spanK {dy12 , i ≥ 0} where r12 = dimX2 − dimX21 . ( ) • If ∀ ≥ r1j , dy1j ∈ X2 , set s1j = −1, for j = 1, 2. ( ) If ∃ ≥ r1j , dy1j ∈ X2 , then define s1j ≥ 0 as the smallest integer such that, abusing the notation, one has locally (r y1j1j +s1j ) (r = y1j1j +s1j ) (σ ) (σ ) (y (λ) , y1111 , y1212 , u, .

3). Instead of {s1 , . . , sp }, it is possible to use the observability indices as defined in Chapter 4 to derive an analogous input-output equation. 2. For the system ⎧ x˙ 1 ⎪ ⎪ ⎪ ⎪ ⎨ x˙ 2 x˙ 3 ⎪ ⎪ y1 ⎪ ⎪ ⎩ y2 = = = = = x3 u1 u1 u2 x1 x2 we have y˙ 1 = x3 u1 , y¨1 = u2 u1 + x3 u˙ 1 , and finally y¨1 = u2 u1 + (y˙ 1 /u1 )u˙ 1 The last equation holds at every point in which u1 = 0. For the second output, y˙ 2 = u1 immediately. The following example shows that for a more general nonlinear system, where x˙ does not appear explicitly, such as F (x, x, ˙ u, .

However, there does not exist any change of coordinates that gives rise to a representation containing a Brunovsky block of dimension 2. The system is accessible; there does not exist any autonomous element. 52 3 Accessibility ✻ u1 ✒ ✩ ✛ ❅ ✛✘ x3 ❅ ❅ u2 ✚ ✲❅ ❅ ❅ x2 ✲ 0 x1 Fig. 2. 21. Consider ⎞ ⎛ 1 x˙ 1 ⎜ x˙ 2 ⎟ ⎜ x3 ⎟ ⎜ ⎜ ⎜ x˙ 4 ⎟ ⎜ x4 ⎟ ⎜ ⎜ ⎟ = ⎜ .. ⎜ .. ⎟ ⎜ . ⎜. ⎟ ⎜ ⎜ ⎝ x˙ n−1 ⎠ ⎝ xn 0 x˙ n ⎛ ⎞ 0 0⎟ ⎟ 0⎟ ⎟ .. 18) Then, compute H2 = spanK {x3 dx1 − dx2 , . . , xn dx1 − dxn−1 } and more generally, for 2 ≤ k ≤ n − 1, Hk = spanK {x3 dx1 − dx2 , .

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