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Integrator forwarding control laws for some classes of linearizable feedforward systems

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1 Author(s)
M. Krstic ; Dept. of Mech. & Aerosp. Eng., California Univ., San Diego, CA, USA

In a companion paper (Krstic, "Feedforward systems linearizable by coordinate change," ACC'04) we revealed that the family of feedforward systems contains a substantial class that is linearizable by a diffeomorphic coordinate change. We present two subclasses for which explicit control formulae can be derived. Our procedures follow the general integrator forwarding algorithm of Sepulchre-Jankovic-Kokotovic but avoid the requirements to solve (analytically) a series of nonlinear ODEs and to compute (analytically) a series of integrals with respect to time.

Published in:

American Control Conference, 2004. Proceedings of the 2004  (Volume:5 )

Date of Conference:

June 30 2004-July 2 2004