A condition for dynamic feedback linearization of control-affine nonlinear systems

DOI10.1080/002071797223749MaRDI QIDQ4361073zbMATH OpenOpenAlexFDO

Authors Martin Guay, D. W. Bacon, P. James McLellan

Publication date 11 February 1998

Published in International Journal of Control (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1080/002071797223749

zbMATH Keywords

dynamic feedback linearizabilitynonlinear systemsprecompensationtransformations

Mathematics Subject Classification ID

Transformations (93B17) Linearizations (93B18)

Review text

The problem of dynamic feedback linearization of smooth nonlinear affine (with respect to the control) systems is studied. First, a feedback invariant filtering of the Pfaffian system associated with the original system, which takes into account the presence of a precompensator, is defined. Next, a necessary and sufficient condition for dynamic feedback linearizability by endogenous feedback control is expressed in terms of congruences. The state-space and feedback transformations required are obtained by transforming these congruences to equalities. Furthermore, a bound related to the extent of precompensation required for each input channel is obtained. The obtained results are applied to four examples.

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