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output parameterization based on invariant relative degree

IFAC Proceedings Volumes 2011年第1期44卷 11080-11085页

作者： Kazuma Sekiguchi Mitsuji Sampei Tokyo Institute of Technology Tokyo Japan

Abstract In this paper, the change of the relative degree structure at the controllable equilibrium is discussed. In the neighborhood of the controllable equilibrium, all nonlinear systems are approximated to linear controllable system. The gap between the original nonlinear system and approximate linear system appears as a change of the relative degree structure. By comparison of these two structures, the necessary and sufficient condition is derived in order for the equilibrium not to be singular point via the input-output linearization. Based on this result, the selection of the output function is proposed. Moreover the output design method for linear stable zero dynamics is proposed.

关键词： output parameterization Zero dynamics Input-output linearization Point relative degree linearly stable

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parameterization of the output with Respect to the Relative Degree

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SICE Journal of Control, Measurement, and System Integration 2010年第2期3卷 137-143页

作者： Kazuma Sekiguchi Mitsuji Sampei Shigeki Nakaura Department of Mechanical and Control Engineering Tokyo Institute of Technology Department of Mechanical Engineering Sasebo National College of Technology

The partial feedback linearization is capable of expressing a complicated nonlinear system as a simple form for control. To get a proper linearized subsystem, it is most important to select a proper coordinate transformation. This paper plays a fundamental role in selecting the proper coordinate by revealing the system structure with respect to a relative degree. The relative degree is a key concept to treat the partial feedback linearization, especially, the input-output linearization of an input affine system. Using special functions of the state characterized in the relative degree, all functions are parameterized and classified according to their relative degrees. Applying the proposed parameterization to a coordinate transformation, the system structure with respect to relative degrees is revealed. Moreover using the input-output linearization with parameterized outputs, it is also shown that the internal dynamics of the partially linearized system is parameterized.

关键词： input-output linearization output parameterization relative degree

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