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This document discusses robust control design via feedback linearization for systems with perturbations. It begins with an outline and setup describing feedback linearizable systems. It then discusses what happens when the nominal system transformation is applied to an actual system with perturbations and uncertainties. Conditions like triangularity, strict triangularity, and matching are introduced. The document provides an example system and shows it satisfies the strict triangularity condition. It describes using Lyapunov functions to test stability and potentially redesign the control law to enhance robustness. Backstepping is also mentioned as a design approach.
This document discusses robust control design via feedback linearization for systems with perturbations. It begins with an outline and setup describing feedback linearizable systems. It then discusses what happens when the nominal system transformation is applied to an actual system with perturbations and uncertainties. Conditions like triangularity, strict triangularity, and matching are introduced. The document provides an example system and shows it satisfies the strict triangularity condition. It describes using Lyapunov functions to test stability and potentially redesign the control law to enhance robustness. Backstepping is also mentioned as a design approach.
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This document discusses robust control design via feedback linearization for systems with perturbations. It begins with an outline and setup describing feedback linearizable systems. It then discusses what happens when the nominal system transformation is applied to an actual system with perturbations and uncertainties. Conditions like triangularity, strict triangularity, and matching are introduced. The document provides an example system and shows it satisfies the strict triangularity condition. It describes using Lyapunov functions to test stability and potentially redesign the control law to enhance robustness. Backstepping is also mentioned as a design approach.
Drepturi de autor:
Attribution Non-Commercial (BY-NC)
Formate disponibile
Descărcați ca PDF, TXT sau citiți online pe Scribd