Feedback Linearizability and Flatness in Restricted Control Systems

Graf, Basile; Müllhaupt, Ph.

doi:10.3182/20110828-6-it-1002.01987

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2012

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“…There are algorithms to determine the feedback linearizing outputs for single-input systems ( [4], [5]) and for multi-input systems ( [6], [7]). The algorithm proposed in [4] generates quotients to obtain h(x).…”

Section: Introductionmentioning

confidence: 99%

Avoiding feedback-linearization singularity using a quotient method — The field-controlled DC motor case

Willson

Müllhaupt²,

Bonvin

2012

2012 American Control Conference (ACC)

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Feedback linearization requires a unique feedback law and a unique diffeomorphism to bring a system to Brunovský normal form. Unfortunately, singularities might arise both in the feedback law and in the diffeomorphism. This paper demonstrates the ability of a quotient method to avoid or mitigate the singularities that typically arise with feedback linearization. The quotient method does it by relaxing the conditions on diffeomorphism, which can be achieved since there is an additional degree of freedom at each step of the iterative procedure. This freedom in choosing quotients and the resulting advantage are demonstrated for a field-controlled DC motor. Using a Lyapunov function, the domain of attraction of the control law obtained with the quotient method is proved to be larger than the domain of attraction of a control law obtained using feedback linearization.

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Section: Introductionmentioning

confidence: 99%

Avoiding feedback-linearization singularity using a quotient method — The field-controlled DC motor case

Willson

Müllhaupt²,

Bonvin

2012

2012 American Control Conference (ACC)

View full text Add to dashboard Cite

show abstract

Feedback Linearizability and Flatness in Restricted Control Systems

Cited by 1 publication

References 13 publications

Avoiding feedback-linearization singularity using a quotient method — The field-controlled DC motor case

Avoiding feedback-linearization singularity using a quotient method — The field-controlled DC motor case

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Feedback Linearizability and Flatness in Restricted Control Systems

Cited by 1 publication

References 13 publications

Avoiding feedback-linearization singularity using a quotient method &#x2014; The field-controlled DC motor case

Avoiding feedback-linearization singularity using a quotient method &#x2014; The field-controlled DC motor case

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Avoiding feedback-linearization singularity using a quotient method — The field-controlled DC motor case

Avoiding feedback-linearization singularity using a quotient method — The field-controlled DC motor case