From Morse triangular form of ODE control systems to feedback canonical form of DAE control systems

DOI10.1016/J.JFRANKLIN.2021.08.025MaRDI QIDQ2235451zbMATHOpenAlexFDO

Authors Yahao Chen, Witold Respondek

Publication date 21 October 2021

Published in Journal of the Franklin Institute (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/2103.14913

zbMATH Keywords

differential-algebraic control systemsfeedback canonical formMorse canonical form

Mathematics Subject Classification ID

Canonical structure (93B10) Feedback control (93B52) Control/observation systems governed by ordinary differential equations (93C15) Algebraic methods (93B25)

Abstract: In this paper, we relate the feedback canonical form extbf{FNCF} of differential-algebraic control systems (DACSs) with the famous Morse canonical form extbf{MCF} of ordinary differential equation control systems (ODECSs). First, a procedure called an explicitation (with driving variables) is proposed to connect the two above categories of control systems by attaching to a DACS a class of ODECSs with two kinds of inputs (the original control input $u$ and a vector of driving variables $v$). Then, we show that any ODECS with two kinds of inputs can be transformed into its extended extbf{MCF} via two intermediate forms: the extended Morse triangular form and the extended Morse normal form. Next, we illustrate that the extbf{FNCF} of a DACS and the extended extbf{MCF} of the explicitation system have a perfect one-to-one correspondence. At last, an algorithm is proposed to transform a given DACS into its extbf{FBCF} via the explicitation procedure and a numerical example is given to show the efficiency of the proposed algorithm.

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Cited in

(6)

• On the invertibility indices and the Morse normal form for linear multivariable systems
• Geometric analysis of nonlinear differential-algebraic equations via nonlinear control theory
• On impulse-free solutions and stability of switched nonlinear differential-algebraic equations
• On the triangular canonical form for uniformly observable controlled systems
• Geometric analysis of differential-algebraic equations via linear control theory
• Feedback linearization of nonlinear differential‐algebraic control systems

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