By Giuseppe Conte, Claude H. Moog, Anna Maria Perdon
It is a self-contained creation to algebraic keep watch over for nonlinear structures compatible for researchers and graduate scholars. it's the first booklet facing the linear-algebraic method of nonlinear keep watch over platforms in this kind of specified and broad type. It offers a complementary method of the extra conventional differential geometry and bargains extra simply with a number of vital features of nonlinear platforms.
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Extra info for Algebraic Methods for Nonlinear Control Systems (Communications and Control Engineering)
Example text
State variables are defined in the procedure of the algorithm. 30). 14). Necessity: To prove the necessity condition we need a lemma, which is partly contained in [28, 29, 158]. 24. , u0 ) 2 in some suitable open dense subset of IRk+s+1 , then ∂ 2 y (k) /∂u(s) = 0, dy11 ∈ spanK {dx}, and dy12 ∈ spanK {dx}. 2 Proof. It is already known that ∂ 2 y (k) /∂u(s) = 0 is a necessary condition for the existence of an affine realization of a given input-output system [28, 29, 158]. 21. 28) holds. 24 which is applied to each auxiliary output yij , considering all state variables in Xi−1 as parameters.
13) is locally equivalent to the fact that the strong accessibility distribution L spans the whole tangent bundle T M to the state manifold M , where the strong accessibility distribution L is defined as the limit of a filtration 0 ⊂ Δ1 ⊂ ... ⊂ Δk ⊂ ... ⊂ T M of involutive distributions Δk given by Δk = g + adf g + ... 17 does not require us to work with exact forms only. The practical construction of Hk is easier than that of Δk , since a low number of purely algebraic computations is required and no involutivity condition need to be considered.
Yj j ), u, . . , u(γ) ) .. (s ) (s −1) (s −1) = hp p (φ(y1 , . . , y1 1 , . . , yp , . . , yp p ), u, . . , u(γ) ) y1 yj (sp ) yp (s ) (s1 −1) (s ) 25 ), u, . . 6) are not uniquely defined since, for instance, if K is less than n, different choices of the functions gi (x, u, . . 3). Instead of {s1 , . . , sp }, it is possible to use the observability indices as defined in Chapter 4 to derive an analogous input-output equation. 2. For the system ⎧ x˙ 1 ⎪ ⎪ ⎪ ⎪ ⎨ x˙ 2 x˙ 3 ⎪ ⎪ y1 ⎪ ⎪ ⎩ y2 = = = = = x3 u1 u1 u2 x1 x2 we have y˙ 1 = x3 u1 , y¨1 = u2 u1 + x3 u˙ 1 , and finally y¨1 = u2 u1 + (y˙ 1 /u1 )u˙ 1 The last equation holds at every point in which u1 = 0.