The relative degree enhancement problem for MIMO nonlinear systems
- Oak Ridge National Lab., TN (United States)
- Ohio State Univ., Columbus, OH (United States). Dept. of Electrical Engineering
The authors present a result for linearizing a nonlinear MIMO system by employing partial feedback - feedback at all but one input-output channel such that the SISO feedback linearization problem is solvable at the remaining input-output channel. The partial feedback effectively enhances the relative degree at the open input-output channel provided the feedback functions are chosen to satisfy relative degree requirements. The method is useful for nonlinear systems that are not feedback linearizable in a MIMO sense. Several examples are presented to show how these feedback functions can be computed. This strategy can be combined with decentralized observers for a completely decentralized feedback linearization result for at least one input-output channel.
- Research Organization:
- Oak Ridge National Lab. (ORNL), Oak Ridge, TN (United States)
- Sponsoring Organization:
- USDOE, Washington, DC (United States); Department of Defense, Washington, DC (United States)
- DOE Contract Number:
- AC05-84OR21400
- OSTI ID:
- 82311
- Report Number(s):
- CONF-9506200-1; ON: DE95013983; TRN: 95:005203
- Resource Relation:
- Conference: International Federation on Automatic Control (IFAC) symposium on nonlinear control systems design, Tahoe City, CA (United States), 25-28 Jun 1995; Other Information: PBD: [1995]
- Country of Publication:
- United States
- Language:
- English
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