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Algebraic Methods for Nonlinear Control Systems by Giuseppe Conte, Claude H. Moog, Anna Maria Perdon

By Giuseppe Conte, Claude H. Moog, Anna Maria Perdon

This can be a self-contained advent to algebraic keep watch over for nonlinear platforms appropriate for researchers and graduate scholars. it's the first publication facing the linear-algebraic method of nonlinear regulate platforms in the sort of special and broad type. It offers a complementary method of the extra conventional differential geometry and offers extra simply with numerous very important features of nonlinear structures.

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Extra resources for Algebraic Methods for Nonlinear Control Systems (Communications and Control Engineering)

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Of the lowest order. We introduce definitions of reduced differential form, reduced input-output system and irreducible differential form, etc. to reach that goal. 9 (Reduced differential form). 14) if (a) dφ ≡ 0 (b) dφ ∈ H∞ . 10 (Reduced input-output system). 17) 2 such that ∂φ /∂y (k ) = 0, ∂φ /∂u(s ) = 0, and ∂ 2 φ /∂y (k ) ≡ 0 with k > 0, s ≥ 0. 14). 11 (Irreducible differential form). 14). 8 cont’d). d(y−u) ˙ ∈ H∞ and y˙ = u is an irreducible system. Thus, φ = y˙ − u = 0 is an irreducible input-output system of y¨ = u˙ + (y˙ − u)2 .

Y1 .. (sj ) = hj j (φ(y1 , . . , y1 1 , yj , . . , yj j ), u, . . , u(γ) ) .. (s ) (s −1) (s −1) = hp p (φ(y1 , . . , y1 1 , . . , yp , . . , yp p ), u, . . , u(γ) ) y1 yj (sp ) yp (s ) (s1 −1) (s ) 25 ), u, . . 6) are not uniquely defined since, for instance, if K is less than n, different choices of the functions gi (x, u, . . 3). Instead of {s1 , . . , sp }, it is possible to use the observability indices as defined in Chapter 4 to derive an analogous input-output equation. 2. For the system ⎧ x˙ 1 ⎪ ⎪ ⎪ ⎪ ⎨ x˙ 2 x˙ 3 ⎪ ⎪ y1 ⎪ ⎪ ⎩ y2 = = = = = x3 u1 u1 u2 x1 x2 we have y˙ 1 = x3 u1 , y¨1 = u2 u1 + x3 u˙ 1 , and finally y¨1 = u2 u1 + (y˙ 1 /u1 )u˙ 1 The last equation holds at every point in which u1 = 0.

U(s) ) .. ˙ . . , u(s) ) xk = ξk (y, y, xk+1 = u .. 23) xk+s+1 = u(s) k From Hs+2 ⊂ Hs+1 , it follows dξ˙i = j=1 αdξ + βdu, for each j = 1, . . , k. Let x = (x1 , . . , xk ). 24) The assumption k > s indicates that the output y depends only on x. 14). Since the state-space system is proper, necessarily k > s. H1 = spanK {dx, du, . . , du(s) } .. 23), the spaces Hi are integrable as expected. 17. Let y¨ = u˙ 2 , and compute ˙ du, du} ˙ H1 = spanK {dy, dy, H2 = spanK {dy, dy, ˙ du} H3 = spanK {dy, dy˙ − 2udu)} ˙ Since H3 is not integrable, there does not exist any state-space system generating y¨ = u˙ 2 .

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