Get Algebraic methods for nonlinear control systems PDF

By Giuseppe Conte, Claude H. Moog, Anna Maria Perdon

ISBN-10: 1846285941

ISBN-13: 9781846285943

This is a self-contained creation to algebraic regulate for nonlinear structures appropriate for researchers and graduate scholars. it's the first publication facing the linear-algebraic method of nonlinear keep watch over structures in this sort of exact and huge type. It presents a complementary method of the extra conventional differential geometry and bargains extra simply with numerous very important features of nonlinear systems.

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Although the input-output relation is linear, the above procedure yields a generalized realization: ⎧ ⎨ x˙ 1 = x2 x˙ 2 = −u − u˙ ⎩ y = x1 The notions of controllability/accessibility and of observability that one can use in characterizing the structure of internal representations are reported in Chapters 3 and 4. 11) is in general observable, but not necessarily accessible . In this sense, it is not minimal. 4), in particular containing no derivatives of the input, are fully characterized in [33] (see also [28, 47, 56, 91, 92, 150, 151, 158]).

H1 1 ) ∂x If ∂h1 /∂x ≡ 0 we define s1 = 0. Analogously for 1 < j ≤ p, let us denote by sj the minimum integer such that (s −1) rank ∂(h1 , . . , h1 1 (sj −1) ; . . ; h j , . . , hj ∂x (s −1) = rank ∂(h1 , . . , h1 1 If (s −1) (sj ) ; . . ; h j , . . , hj ∂x (s ) ) j−1 j−1 ∂(h1 , . . , hj−1 ) ∂(h1 , . . , hj−1 = rank ∂x ∂x we define sj = 0. Write K = s1 + . . + sp . The vector rank −1) , hj ) S = (h1 , . . , h1s1 −1 , . . , hp , . . 1 State Elimination 23 It will be established in Chapter 4 that the case K < n corresponds to nonobservable systems.

Y (k−1) , u, u, ˙ . . , u(s) ). ⎤ ⎡ ⎤ ⎡ ⎤ ⎡ y y˙ 0 ⎢ .. ⎥ ⎢ .. ⎥ ⎢ .. ⎥ ⎢ . ⎥ ⎢ . 15) ⎢ ⎢ ⎥ ⎥ ⎢ dt ⎢ u ⎥ ⎢ u˙ ⎥ ⎥ ⎢0⎥ ⎢ . ⎥ ⎢ . ⎥ ⎢ .. ⎥ ⎢ .. ⎥ ⎢ .. 14), define the field K of meromorphic functions in a finite number of variables y, u, and their time derivatives. Let E be the formal vector space E = spanK {dϕ | ϕ ∈ K}. Define the following subspace of E ˙ . . , dy (k−1) , du, . . , du(s) } H1 = spanK {dy, dy, Obviously, any one-form in H1 has to be differentiated at least once to depend explicitly on du(s+1) .

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Algebraic methods for nonlinear control systems by Giuseppe Conte, Claude H. Moog, Anna Maria Perdon


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