Using tangent linearised control systems for the feedback control of nonlinear systems

DOI10.1016/S0016-0032(00)00083-1MaRDI QIDQ5939349zbMATH OpenFDO

Authors Konrad Reif

Publication date 10 March 2002

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

Full work available at URL https://doi.org/10.1016/S0016-0032(00)00083-1

zbMATH Keywords

linear time-varying controllinearization

Mathematics Subject Classification ID

Linearizations (93B18) Design techniques (robust design, computer-aided design, etc.) (93B51)

Review text

This paper offers a description of how tangent linearized control systems can be used for tackling nonlinear control problems. The method proposed by the author is especially suited to designing closed-loop control. Nonlinear control problems are reduced to linear time-varying control problems which can be solved, for example, by LQ optimal control or frozen-time control. The author describes two alternative designs which rely on different control methods of the corresponding linearization. An example is provided for a specific highly nonlinear mechanical system. Advantages of the author's approach include the absence of expensive numerical calculations and nonlinear transformations of the state variables. Also, requirements on the system to be controlled are nonrestrictive. Disadvantages include only a guarantee of local stability (for one implementation) or, alternatively, a requirement that the state variables do not change too fast (for another implementation).

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Cited in

(2)

• Nonlinear feedback stabilization by tangential linearization
• A new approach to controller synthesis for nonlinear systems

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