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Feedback control of nonlinear systems by extended linearization

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2 Author(s)
Baumann, W.T. ; Johns Hopkins University, Baltimore, MD, USA ; Rugh, W.J.

For single-input, multiple-output, nonlinear systems, we consider a design method based on the family of linearizations of the system, parameterized by constant operating points. Nonlinear state feedback control laws and observer/state feedback control laws are designed such that the eigenvalues of the family of linearized closed-loop systems are placed at specified values that are locally invariant with respect to the closed-loop operating point. The method is illustrated by application to the problem of automatically balancing an inverted pendulum.

Published in:

Automatic Control, IEEE Transactions on  (Volume:31 ,  Issue: 1 )