Conference paper

Numerical algorithm for feedback linearizable systems

A numerical algorithm that achieves asymptotic stability for feedback linearizable systems is presented. The nonlinear systems can be represented in various forms that include differential equations, simulated physical models or lookup tables. The proposed algorithm is based on a quotient method and proceeds iteratively. At each step, the dynamic system is desensitized with respect to the current input vector field. Control is obtained by tracking a desired value along the input vector field at each step. The numerical algorithm uses the direction on the tangent manifold at a given point and its variation around that point. This enables the algorithm to produce control values simply using a simulator of the nonlinear system.

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