Normal forms for control systems at singular points (Q1418863)
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Normal forms for control systems at singular points (English)
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14 January 2004
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The main concern of the paper is the derivation of normal forms for open loop nonlinear affine systems defined by ordinary differential equations \[ \dot y= f_0(y)+\sum^m_{i=1} u_i(t)f_i(y),\;y\in\mathbb{R}^d. \] More precisely, it is assumed that the linearization appears in a block-diagonalized form, and that the nonlinear terms are \(C^k\)-bounded. The system is associated with a skew product flow on \(\mathbb{R}^d\times{\mathcal U}\), where \({\mathcal U}\subset L_\infty(\mathbb{R},\mathbb{R}^m)\) is the set of admissible inputs \(u:\mathbb{R}\to U\) \((U\) being a convex, compact subset of \(\mathbb{R}^m\), with \(0\in U)\) endowed with the weak \(*\)-topology. For a given singular point, a notion of local \(C^k\)-conjugacy is defined. Finally, certain nonresonance conditions are pointed out, which allow us to eliminate higher-order terms of the Taylor expansion of the right-hand side under a conjugacy transformation. Two illustrative examples are given.
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normal forms
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singular points
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control systems
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