Approximate state-feedback linearization using spline functions

DOI10.1016/S0005-1098(97)00070-8MaRDI QIDQ1371653zbMATH OpenFDO

Authors Scott A. Bortoff

Publication date 6 April 1998

Published in Automatica (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1016/S0005-1098(97)00070-8

zbMATH Keywords

approximate feedback linearizationgain-schedulingsplines

Mathematics Subject Classification ID

Linearizations (93B18)

Review text

A system \(\dot x=f(x)+ u\cdot g(x)\) is linearized in a neighborhood of the equilibrium manifold \(f(\overline x)+ \overline u\cdot g(\overline x)=0\) and begins with output function \(z_1=T_1(x)\). The first method extends a recursive algorithm to include splines, the second method is a compromise between gain-scheduling and approximate feedback linearization and uses the software Mathematica. The methods are demonstrated on a rotating inverted pendulum and acrobot-underactuated coplanar double pendulum examples.

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Cites work

• A new method for linearizing non-linear systems : the pseudolinearization†
• Feedback control of nonlinear systems by extended linearization
• Gain scheduling dynamic linear controllers for a nonlinear plant
• scientific article; zbMATH DE number 3703310 (Why is no real title available?)
• scientific article; zbMATH DE number 3301601 (Why is no real title available?)
• Nonlinear control via uniform system approximation
• Nonlinear systems

Cited in

(8)

• Robust structural feedback linearization based on the nonlinearities rejection
• A state space embedding approach to approximate feedback linearization of single input nonlinear control systems
• Swing-up control strategies for a reaction wheel pendulum
• A quotient method for designing nonlinear controllers
• Control synthesis for a class of nonlinear systems based on partition of unity
• Fast spline smoothing via spectral factorization concepts
• Dynamic non-minimum phase compensation for SISO nonlinear, affine in the input systems
• Fast computation of smoothing splines subject to equality constraints

Describes a project that uses

Uses Software

• Mathematica

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