A SAMPLED NORMAL-FORM FOR FEEDBACK LINEARIZATION

Authors
BARBOT JP MONACO S NORMANDCYROT D
Citation
Jp. Barbot et al., A SAMPLED NORMAL-FORM FOR FEEDBACK LINEARIZATION, MCSS. Mathematics of control, signals and systems, 9(2), 1996, pp. 162-188
Citations number
24
Categorie Soggetti
Controlo Theory & Cybernetics","Engineering, Eletrical & Electronic",Mathematics,"Robotics & Automatic Control
Journal title
MCSS. Mathematics of control, signals and systems → ACNP
ISSN journal
09324194
Volume
9
Issue
2
Year of publication
1996
Pages
162 - 188
Database
ISI
SICI code
0932-4194(1996)9:2<162:ASNFFL>2.0.ZU;2-Z
Abstract
This paper discusses the problem of preserving approximated feedback l inearization under digital control. Starting from a partially feedback linearizable affine continuous-time dynamics, a digital control proce dure which maintains the dimension of the maximally feedback lineariza ble par? up to any order of approximation with respect to the sampling period is proposed. The result is based on the introduction of a samp led normal form, a canonical structure which naturally appears when st udying feedback linearization.