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Nonlinear Control
Lecture 9: Feedback Linearization
Farzaneh Abdollahi
Fall 2011
Farzaneh Abdollahi
Nonlinear Control
Lecture 9
1/75
Feedback Linearzation
Input-State Linearization
Input-Output Linearization
Internal Dynamics of Linear Systems
Zero-Dynamics
Preliminary Mathematics
Diffeomorphism
Frobenius Theorem
Input-State Linearization
Control Design
Input-Output Linearization
Well Defined Relative Degree
Undefined Relative Degree
Normal Form
Zero-Dynamics
Local Asymptotic Stabilization
Global Asymptotic Stabilization
Tracking Control
Farzaneh Abdollahi
Nonlinear Control
Lecture 9
2/75
Feedback Linearzation
I
Farzaneh Abdollahi
Nonlinear Control
Lecture 9
3/75
Example Contd
I
The dynamics:
A(h)h(t)
=ua
I
I
I
I
where A(h) is the cross section of the tank and a is the cross section of
the outlet pipe.
p
2gh
If hd is time-varying: v = h d (t) h
I
h 0 as t
Farzaneh Abdollahi
Nonlinear Control
Lecture 9
4/75
(1)
(1)can be
presented
as controllability
canonical form
x1
x2
..
..
d
.
.
=
dt
xn1
xn
xn
f (x) + b(x)u
Farzaneh Abdollahi
Nonlinear Control
Lecture 9
5/75
Feedback Linearzation
I
v = xd k0 e k1 e . . . kn1 e (n1)
I
Farzaneh Abdollahi
Nonlinear Control
Lecture 9
6/75
Farzaneh Abdollahi
Nonlinear Control
Lecture 9
7/75
Using
the Lagrangian
the robotic dynamics
equations
are:
H11
H21
H12
H22
q1
q2
hq 2
hq 1
hq 2 hq 1
0
q 1
q 2
g1
g2
=
1
2
where q = [q1 q2 ]T : the two joint angles, = [1 2 ]T : the joint inputs, and
2
2
H11 = m1 lc1
+ l1 + m2 [l12 + lc2
+ 2l1 lc2 cos q2 ] + I2
H22
2
2
= m2 lc2
+ I2 H12 = H21 = m2 l1 lc2 cos q2 + m2 lc2
+ I2
g1
g2
Farzaneh Abdollahi
Nonlinear Control
Lecture 9
8/75
Input-State Linearization
I
Farzaneh Abdollahi
Nonlinear Control
Lecture 9
9/75
Example:
I
Consider
I
I
I
I
I
I
I
= ax2 + sin x1
= 2z1 + z2
= 2z1 cos z1 + cos z1 sin z1 + au cos(2z1 )
Farzaneh Abdollahi
Nonlinear Control
Lecture 9
10/75
I
I
Farzaneh Abdollahi
Nonlinear Control
Lecture 9
11/75
Input-Output Linearization
I
Consider
x
= f (x, u)
= h(x)
yd (t) and its time derivatives up to a sufficiently high order are known
and bounded.
The difficulty: output y is only indirectly related to the input u
it is not easy to see how the input u can be designed to control the
tracking behavior of the output y .
Farzaneh Abdollahi
Nonlinear Control
Lecture 9
12/75
Example:
I
Consider
= x1
No direct relationship
differentiate again: y = (x2 + 1)u + f (x), where
5
f (x) = (x1 + x3 )(x3 + cos x2 ) + (x2 + 1)x12
Choose v = yd k1 e k2 e,
where e = y yd is tracking error, k1 and k2
are pos. const.
Farzaneh Abdollahi
1
x2 +1 (v
f ).
Nonlinear Control
Lecture 9
13/75
Example Contd
I
If the control input never appears after more than n differentiations, the
system would not be controllable.
Farzaneh Abdollahi
Nonlinear Control
Lecture 9
14/75
Feedback Linearzation
I
1
yd (t)
x2 +1 (
k1 e k2 e + f )
Example: Consider
x 1
x 2
=
x23 + u
u
y = x1
(2)
I
I
Farzaneh Abdollahi
Nonlinear Control
Lecture 9
15/75
I
I
For previous example the objective will be y and y will be driven to zero
and stable internal dynamics guarantee stability of the whole system.
No restriction to choose physically meaningful h(x) in y = h(x)
Different choices of output function leads to different internal dynamics
which some of them may be unstable.
Farzaneh Abdollahi
Nonlinear Control
Lecture 9
16/75
Summary
I
Farzaneh Abdollahi
Nonlinear Control
Lecture 9
17/75
(3)
First differentiations of y y = x2 + u
The control law u = x2 e(t) + y d (t) exp. convergence of e : e + e = 0
Internal dynamics: x 2 + x2 = y d e
e and y d are bounded
x2 and therefore u are bounded.
Farzaneh Abdollahi
Nonlinear Control
Lecture 9
18/75
(4)
using the same control law yields the following internal dynamics
x 2 x2 = e(t) y d
I
I
Farzaneh Abdollahi
Nonlinear Control
Lecture 9
19/75
Internal Dynamics
I
0
1
z 1
z 2 = 0
0
z 3
a0 a1
z1
y = [b0 b1 0] z2
z3
Farzaneh Abdollahi
(5)
Nonlinear Control
form:
0
0
z1
1
z2 + 0 u
z3
1
a2
(6)
Lecture 9
20/75
Note that: the I/O relation is independent of the choice of state variables
two differentiations is required for u to appear if we use (5).
b0
b1 z3 )
1
b1 (k1 e
k2 e + yd )
I
I
I
Farzaneh Abdollahi
Nonlinear Control
Lecture 9
21/75
Zero-Dynamics
I
To extend the results for nonlinear systems the concept of zero should be
modified.
Extending the notion of zeros to nonlinear systems is not trivial
Farzaneh Abdollahi
Nonlinear Control
Lecture 9
22/75
For linear system (5), the zero dynamics is z 1 + (b0 /b1 )z1 = 0
The poles of the zero-dynamics are exactly the zeros of the system.
Farzaneh Abdollahi
Nonlinear Control
Lecture 9
g.s. of
23/75
Zero-Dynamics
I
Farzaneh Abdollahi
Nonlinear Control
Lecture 9
24/75
Preliminary Mathematics
I
i1
L0f h = h; Lif h = Lf (Li1
f h) = (Lf h)f
Farzaneh Abdollahi
Nonlinear Control
Lecture 9
f
x ,
where
25/75
The Lie bracket [f, g] is also written as adf g (ad stands for adjoint).
Example:
Consider x = f(x)
+ g(x)u
where
2x1 + ax2 + sin x1
0
f=
,g =
x2 cos x1
cos(2x1 )
So the Lie
bracket is:
a cos(2x1 )
[f, g] =
cos x1 cos(2x1 ) 2 sin(2x1 )(2x1 + ax2 + sin x1 )
Farzaneh Abdollahi
Nonlinear Control
Lecture 9
26/75
= 1 [f1 , g] + 2 [f2 , g]
[f, 1 g1 + 2 g2 ]
= 1 [f, g1 ] + 2 [f, g2 ]
= [g, f]
3. Jacobi identity
Ladf g h
= Lf Lg h Lg Lf h
Nonlinear Control
Lecture 9
27/75
Diffeomorphism
I
Farzaneh Abdollahi
Nonlinear Control
Lecture 9
28/75
Diffeomorphism
I
z =
x x
x (f (x)
+ g (x)u)
where x = 1 (z).
Example
diffeomorphism:
Consider
of a non-global
z1
2x1 + 5x1 x22
= (x) =
z2
3 sin x2
I
I
2 + 5x22 10x1 x2
=
Its Jacobian matrix:
.
0
3 cos x2
rank is 2 at x = (0, 0) local diffeomorphism around the origin where
= {(x1 , x2 ), |x2 | < /2}.
outside the region, the inverse of does not uniquely exist.
I
Farzaneh Abdollahi
Nonlinear Control
Lecture 9
29/75
Frobenius Theorem
I
(7)
Farzaneh Abdollahi
Nonlinear Control
Lecture 9
30/75
Frobenius Theorem
I
Frobenius theorem states that Equation (7) has a solution h(x1 , x2 , x3 ) iff
there exists scalar functions 1 (x1 , x2 , x3 ) and 2 (x1 , x2 , x3 ) such that
[f , g ] = 1 f + 2 g
i.e., if the Lie bracket of f and g can be expressed as a linear combination of f
and g
Geometrically, it means that the vector field [f , g ] is in the plane formed by the
two vectors f and g
Farzaneh Abdollahi
Nonlinear Control
Lecture 9
31/75
i.e., the Lie bracket of any two vector fields from the set {f1 , f2 , ..., fm }
can be expressed as the linear combination of the vectors from the set.
I
I
Constant vector fields are involutive since their Lie brackets are zero
A set composed of a single vector is involutive:
[f , f ] = (f )f (f )f = 0
Involutivity means:
rank (f1 (x) .... fm (x)) = rank (f1 (x) .... fm (x) [fi , fj ](x))
for all x and for all i, j.
Farzaneh Abdollahi
Nonlinear Control
Lecture 9
32/75
Frobenius Theorem
I
x1 x2
h
h
h
x1
+ (x32 3x2 )
+ 2x3
x1
x2
x3
4x3
= 0
= 0
Since [f1 , f2 ] = 3f1 + 0f2 , the set {f1 , f2 } is involutive and the set of
PDEs are solvable.
Farzaneh Abdollahi
Nonlinear Control
Lecture 9
33/75
Input-State Linearization
I
(8)
Farzaneh Abdollahi
Nonlinear Control
Lecture 9
34/75
Input-State Linearization
I
0 1 0
0 0 1
. . .
A =
. . .
0 0 0
0 0 0
... 0
... .
... .
... .
... 1
... 0
0
0
..
.
B=
0
1
(9)
The new state z is called the linearizing state and the control law u is called the
linearizing control law
Let z = z(x)
Farzaneh Abdollahi
Nonlinear Control
Lecture 9
35/75
Input-State Linearization
I
This linear companion form can be obtained from any linear controllable
system by a transformation
if u leads to a linear system, (9) can be
obtained by another transformation easily.
Farzaneh Abdollahi
Nonlinear Control
Lecture 9
36/75
Input-State Linearization
I
Lemma: An nth order nonlinear system is I/S linearizable iff there exists
a scalar fcn z1 (x) for which the system is I/O linearizable with r = n.
I
I
Theorem: The nonlinear system (8) with f (x) and g (x) being smooth
vector field is input-state linearizable iff there exists a region s.t. the
following conditions hold:
The vector fields {g , adf g , ... adf n1 g } are linearly independent in
The set {g , adf g , ... adf n2 g } is involutive in
Farzaneh Abdollahi
Nonlinear Control
Lecture 9
37/75
is always satisfied for linear systems since the vector fields are constant, but
for nonlinear system is not necessarily satisfied.
It is necessary according to Ferobenius theorem for existence of z1 (x).
gz
= ... = Ladf
kg
z =0
Proof:
I
Farzaneh Abdollahi
2g
z = Lf 2 Lg z 2Lf Lg Lf z + Lg Lf 2 z = 0 0 + 0 = 0
Nonlinear Control
Lecture 9
38/75
I
I
= z2
= z3
..
.
zn
zn
f +
gu
x
x
Farzaneh Abdollahi
Nonlinear Control
Lecture 9
= v
39/75
= zi+1 , i = 1, 2, ..., n 1
n1
z1 u
n1
n1
= (1)
Lg zn
First note that for above eqs to hold, the vector field g , adf g , ..., adf
must be linearly independent.
If for some i(i n 1) there exist scalar fcns 1 (x), ... i1 (x) s.t.
i1
X
adf i g =
k adf k g
(10)
(11)
n1
k=0
Farzaneh Abdollahi
Nonlinear Control
Lecture 9
40/75
n1
n2
X
k adf
k=ni1
z1 adf
n1
n2
X
k z1 adf
g =0
(12)
k=ni1
From the necessity part of Frobenius theorem, we conclude that the set
of vector field must be involutive.
Sufficient condition
Farzaneh Abdollahi
= Lg Lf z1 = ... Lg Lf
Nonlinear Control
Lecture 9
z1 = 0
41/75
n1 z
1
n1
z1 u
(13)
n1 g }
Now, we have:
z n = Lf n z1 + Lg Lfn1 z1 u = a(x) + b(x)u
Farzaneh Abdollahi
Nonlinear Control
Lecture 9
42/75
1
b(x) (a(x)
Now, select u =
+ v ) to get:
z n = v
n1
6=
Nonlinear Control
Lecture 9
n1
z1 ]T and the
43/75
Equations of motion:
I q1 + MgLsinq1 + K (q1 q2 ) = 0
J q2 K (q1 q2 ) = u
Farzaneh Abdollahi
Nonlinear Control
Lecture 9
44/75
Equations of motion:
I q1 + MgLsinq1 + K (q1 q2 ) = 0
J q2 K (q1 q2 ) = u
nonlinearities appear in the first equation and torque is in the second equation
Let:
x2
q1
q 1
MgL sinx1 K (x1 x3 )
I
I
x =
q2 , f =
x4
K
q 2
J (x1 x3 )
I
0
0
[g adf g adf 2 g adf 3 g ] =
0 1
J
1
0
J
Farzaneh Abdollahi
Nonlinear Control
Lecture 9
, g = 0
0
K
IJ
0
JK2
1
J
K
IJ
0
J2
0
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Example: Contd
I
Its full rank for k > 0 and IJ < = vector fields are linearly
independent
I z1 = 0, z1 = 0, z1 = 0, z1 6= 0
x2
x3
x4
x1
I Hence, z1 is the fcn of x1 only. Let z1
= x1 , then
z2 = z1 f = x2
MgL
K
sinx1 (x1 x3 )
I
I
MgL
K
= z3 f =
x2 cosx1 (x2 x4 )
I
I
z3 = z2 f =
z4
Farzaneh Abdollahi
Nonlinear Control
Lecture 9
46/75
Example: Contd
I
a(x)
=
+
IJ
(v a(x))
K
MgL
MgL
K
sinx1 (x22 +
cosx1 + )
I
I
I
K
K
K
MgL
(x1 x3 )( + +
cosx1 )
I
I
J
I
(v z4 f )/(z4 g ) =
= z4 ,
z 4 = v
Farzaneh Abdollahi
Nonlinear Control
Lecture 9
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Example Contd
I
Farzaneh Abdollahi
Nonlinear Control
Lecture 9
48/75
Control Design
I
z1
I
=v
where z1 = z1 zd1 .
I
Farzaneh Abdollahi
Nonlinear Control
Lecture 9
49/75
Input-Output Linearization
I
= h(x)
(14)
Farzaneh Abdollahi
Nonlinear Control
Lecture 9
50/75
Farzaneh Abdollahi
Nonlinear Control
Lecture 9
51/75
Hence, we have
y (r ) = Lf r h(x) + Lg Lf
r 1
h(x)u
(15)
1
Lg Lf
r 1 h(x)
(Lf r h(x) + v )
Farzaneh Abdollahi
r 1
h(x) 6= 0
Nonlinear Control
Lecture 9
52/75
r 1
h(x0 ) 6= 0
r 1 h(x)
Example:
x = (x, x)
+u
where is a smooth nonlinear fcn. Define x = [x x]
T and let y = x =
the system is in companion form with r = 2.
Farzaneh Abdollahi
Nonlinear Control
Lecture 9
53/75
= 2x x
y = 2x x + 2x 2 = 2x(x, x)
+ 2xu + 2x 2 =
Lg Lf h = 2x
(16)
Farzaneh Abdollahi
Nonlinear Control
Lecture 9
54/75
Normal Form
I
..
.
=
r
a(, ) + b(, )u
= w (, )
(17)
(18)
= 1
The first part of the Normal form, (17) is another form of (15), however in (18)
the input u does not appear.
The system can be transformed to this form if the state transformation (x) is a
local diffeomorphism: (1 ... r 1 ... nr )T
Farzaneh Abdollahi
Nonlinear Control
Lecture 9
55/75
Normal Form
I
I
I
2. internal dynamics
For tracking problems (y yd ), one can easily design v once the linear
relation is obtained.
The question is whether the internal dynamics remain bounded
Farzaneh Abdollahi
Nonlinear Control
Lecture 9
56/75
Zero-Dynamics
I
r 1
h(x)u0 0 =
In normal form:
=
0
= w (0, )
a(0, )
u0 () =
b(0, )
Farzaneh Abdollahi
Nonlinear Control
Lecture 9
(19)
57/75
Example
I
x
y
I
We have
2x
x1
e 2
= 2x1 x2 + sinx2 + 1/2 u
0
2x2
= h(x) = x3
Consider
= 2x2
y = 2x 2 = 2(2x1 x2 + sinx2 ) + u
I
Farzaneh Abdollahi
Nonlinear Control
Lecture 9
58/75
Example Contd
I
0
0
1
0
2
0
2x
2
1 2e
0
Farzaneh Abdollahi
Nonlinear Control
Lecture 9
59/75
Example Contd
I
= 1 + + e 2
1
2
=
2
= 1
State transformation is valid globally and the normal form is given by:
1
(20)
Farzaneh Abdollahi
Nonlinear Control
Lecture 9
(21)
60/75
Zero-Dynamics
I
In order to obtain the zero dynamics, it is not necessary to put the system
into normal form
If the zero dynamics is stable for all x, the system is globally minimum
phase, otherwise the results are local.
Farzaneh Abdollahi
Nonlinear Control
Lecture 9
61/75
h(x)
1
Lg Lf
r 1 h(x)
(Lf r h(x) + v )
(22)
(23)
(24)
y (r ) = v
(25)
Nonlinear Control
Lecture 9
62/75
Then, provided that the zero-dynamics is asymptotically stable, the control law
(24) and (25) locally stabilize the whole system:
Theorem: Suppose the nonlinear system (22) has a well defined relative degree
r and its associated zero-dynamics is locally asymptotically stable. Now, if ki are
selected s.t. K (s) = s r + kr 1 s r 1 + ... + k1 s + k0 is Hurwitz, then the control
law (24) and (25) yields a locally asymptotically stable system.
0
1
0
...
0
0
0
1
...
.
.
.
...
.
= A
=
.
.
.
...
.
0
0
...
1
k0 k1 k2 . . . kr 1
= w (, ) = A1 + A2 + h.o.t.
h.o.t. is higher order terms in the Taylor expansion about x0 = 0.
The above Eq. can be written
as:
d
A
0
=
+ h.o.t.
A1 A2
dt
Farzaneh Abdollahi
Nonlinear Control
Lecture 9
63/75
= A2
Now, since the zero dynamics is asymptotically stable, its linearization
is either asymptotically stable or marginally stable.
I If A is asymptotically stable, then all eigenvalues of the above system
2
matrix are in LHP and the linearized system is stable and the nonlinear
system is locally asymptotically stable
I If A is marginally stable, asymptotic stability of the closed-loop system
2
was shown in (Byrnes and Isidori, 1988).
Comparing the above method to local stabilization and using linear control:
I the above stabilization method can treat systems whose linearizations
contain uncontrollable but marginally stable modes,
I while linear control methods requires the linearized system to be strictly
stabilizable
Farzaneh Abdollahi
Nonlinear Control
Lecture 9
64/75
System linearization at x = 0:
x 1 = 0
x 2 = 3x2 + u
thus has an uncontrollable mode
Farzaneh Abdollahi
Nonlinear Control
Lecture 9
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Example (contd)
I Define y = 2x x
1
2 =
y
I
2x 1 x 2 = 2x12 x2 3x2 u
2x13
Can the idea of I/O linearization be used for global stabilization problem?
Can the idea of I/O linearization be used for systems with unstable zero
dynamics?
Farzaneh Abdollahi
Nonlinear Control
Lecture 9
66/75
But simplified by the fact that in normal form part of the system
dynamics is now linear.
The basic idea is to view as the input to the internal dynamics and
as its output.
The first step: find the control law 0 = 0 () which stabilizes the internal
dynamics with the corresponding Lyapunov fcn V0 .
Then: find a Lyapunov fcn candidate for the whole system (as a modified
version of V0 ) and choose the control input v s.t. V be a Lyapunov fcn for
the whole closed-loop dynamics.
Farzaneh Abdollahi
Nonlinear Control
Lecture 9
67/75
Example:
I
= v
z + z 3 + yz = 0
(26)
1 2 1 4
z + z
2
4
Farzaneh Abdollahi
= z 4 z z(y
z 2)
Nonlinear Control
Lecture 9
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Example Contd
I
1
= V0 + (y z 2 )2
2
= z 4 + (y z 2 )(v 3z z)
Farzaneh Abdollahi
Nonlinear Control
Lecture 9
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Farzaneh Abdollahi
Nonlinear Control
Lecture 9
70/75
Tracking Control
I
Theorem: Assume the system (22) has a well defined relative degree r
and d is smooth and bounded and that the solution d :
d = w (d , d ), d (0) = 0
(r 1) T
]
Farzaneh Abdollahi
Nonlinear Control
Lecture 9
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I
I
b>0
Farzaneh Abdollahi
Nonlinear Control
Lecture 9
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Example Contd
I
B0 (s)
u
A(s)
Farzaneh Abdollahi
Nonlinear Control
Lecture 9
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Example Contd
I
B0 (s)
u
A(s)(1 + bs )
s
s
s2
y (s) = 1
1+
yd = 1 2 yd
b
b
b
yd (t)
b2
Farzaneh Abdollahi
Nonlinear Control
Lecture 9
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Tracking Control
I
I
I
I
I
I
I
Farzaneh Abdollahi
Nonlinear Control
Lecture 9
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