Adaptive Input Redundancy of Polynomial Parameter-Dependent Systems

The concept of adaptive input redundancy is introduced in this paper to extend the notion of input redundancy to parameter-dependent systems. Sufficient conditions to verify the adaptive input redundancy of polynomial parameter-dependent systems are provided. It is important to point out that although the obtained conditions depend on the parameter, they can be practically verified in a computational algorithm. The developed strategy uses concepts from the geometric control theory, such as the notion of controlled invariant and output invisible subspaces. Another crucial tool to derive the results of this work is the Smith Normal form of a matrix. A numerical example is provided to illustrate the strategy.