Approximate state-feedback linearization using spline functions (Q1371653)
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English | Approximate state-feedback linearization using spline functions |
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Approximate state-feedback linearization using spline functions (English)
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6 April 1998
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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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splines
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gain-scheduling
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approximate feedback linearization
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