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

ISBN-10: 1846285941

ISBN-13: 9781846285943

This is a self-contained creation to algebraic keep an eye on for nonlinear structures compatible for researchers and graduate scholars. it's the first ebook facing the linear-algebraic method of nonlinear regulate structures in one of these special and large type. It presents a complementary method of the extra conventional differential geometry and offers extra simply with numerous very important features of nonlinear systems.

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24 which is applied to each auxiliary output yij , considering all state variables in Xi−1 as parameters. 30). 25. 32) 38 2 Modeling for which k = 2 and s = 1, define x1 = y (k−s−1) = y Let y12 = y˙ − u sin y y11 = sin y, Then k21 = 0, k22 = 1. The relation y˙ 12 = −y12 u cos y implies that s22 = 0. 33) which is both observable and accessible and therefore it is minimal. 26. 35) is meromorphic on the open and dense subset of IR3 , containing the points (y, ˙ u, u) ˙ such that u2 > y˙ 2 . 36) It does not satisfy the strong accessibility rank condition, so it is not a minimal realization.

Consider the input-output equation y˙ 2 = y + u. The above procedure yields the implicit state equations x˙ 2 = x + u or, locally, one of the following explicit realizations, depending on whether y˙ > 0 or y˙ < 0. 13) y=x Note that the right-hand side of the state equations in the above representations is not meromorphic at the origin. 4). Also linear input-output relations, in case transmission zeros are present, give rise, in this way, to generalized realizations. 11) may be transformed under suitable hypotheses into a realization containing no derivatives of u.

1) becomes 24 2 Modeling ⎧ ⎪ ⎪ ⎪ ⎪ ⎪ ⎪ ⎪ ⎪ ⎪ ⎪ ⎪ ⎪ ⎪ ⎪ ⎪ ⎪ ⎪ ⎪ ⎪ ⎪ ⎪ ⎪ ⎪ ⎪ ⎪ ⎪ ⎪ ⎪ ⎨ x ˜˙ 1 = x ˜2 x ˜˙ 2 = x ˜4 .. (s ) x), u, . . , u(γ) ) x ˜˙ s1 = h1 1 (φ(˜ ˙x ˜s1 +1 = x ˜s1 +2 .. (s ) x ˜˙ s1 +s2 = h2 2 (φ(˜ x), u, . . , u(γ) ) .. ⎪ ⎪ ⎪ ⎪ ⎪ ⎪ ⎪ ⎪ x ˜˙ s1 +···+sp ⎪ ⎪ ⎪ ˙ ⎪ x ˜ ⎪ s1 +···+sp +i ⎪ ⎪ ⎪ y1 ⎪ ⎪ ⎪ ⎪ y ⎪ 2 ⎪ ⎪ ⎪ ⎪ ⎪ ⎪ ⎪ ⎩ yp = = = = .. 5) (s ) hp p (φ(˜ x), u, . . , u(γ) ) gi (˜ x), u, . . , u(γ) ) i = 1, . . , i ∂x ∂x so that (s ) ∂hi i = [c1 . . cs1 +···+si 0 . . 0]J ∂∂x x ˜j ∂x ˜ = [c1 .

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


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