On the Direct Computation of the Byrnes‐Isidori Normal Form

On the Direct Computation of the Byrnes‐Isidori Normal Form If an input‐affine single‐input single‐output control system has a well‐defined relative degree, there exists a (local) change of coordinates transforming the system into the Byrnes‐Isidori normal form. By this transformation, the system is decomposed into two subsystems. The first subsystem can be linearized by feedback, and the second subsystem does not directly depend on the input. To achieve this structure, the last components of the transformation have to fulfill a partial differential equation. Practically, the appropriate choice of these coordinates is usually left to the (experienced) user. In this note, the author suggests a direct calculation based on the computation of flows of certain vector fields. (© 2017 Wiley‐VCH Verlag GmbH & Co. KGaA, Weinheim) http://www.deepdyve.com/assets/images/DeepDyve-Logo-lg.png Proceedings in Applied Mathematics & Mechanics Wiley

On the Direct Computation of the Byrnes‐Isidori Normal Form

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Publisher
Wiley Subscription Services, Inc., A Wiley Company
Copyright
Copyright © 2017 Wiley Subscription Services
ISSN
1617-7061
eISSN
1617-7061
D.O.I.
10.1002/pamm.201710373
Publisher site
See Article on Publisher Site

Abstract

If an input‐affine single‐input single‐output control system has a well‐defined relative degree, there exists a (local) change of coordinates transforming the system into the Byrnes‐Isidori normal form. By this transformation, the system is decomposed into two subsystems. The first subsystem can be linearized by feedback, and the second subsystem does not directly depend on the input. To achieve this structure, the last components of the transformation have to fulfill a partial differential equation. Practically, the appropriate choice of these coordinates is usually left to the (experienced) user. In this note, the author suggests a direct calculation based on the computation of flows of certain vector fields. (© 2017 Wiley‐VCH Verlag GmbH & Co. KGaA, Weinheim)

Journal

Proceedings in Applied Mathematics & MechanicsWiley

Published: Jan 1, 2017

References

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