Loading...
conference paper
Feedback Linearizability and Flatness in Restricted Control Systems
2011
IFAC Proceedings Volumes
The loss of feedback linearizability of control systems is studied when restricted to a submanifold of the state-space. The slow approximation of singularly perturbed systems also falls into this category. We show that even if the static-feedback linearizability is lost, the flatness property of the system may be conserved. The comparison between a flexibly linked pendulum and a rigidly linked one, both equipped with two controls and evolving in the plane, illustrates the theoretical results.
Loading...
Name
ifac_milano_final.pdf
Access type
restricted
Size
136.74 KB
Format
Adobe PDF
Checksum (MD5)
e07e4a03f85c8cd6043bb64d45e74b14