SICE Journal of Control, Measurement, and System Integration
巻, 号, ページ
Vol. 3
No. 2
pp. 137-143
出版年月
2010年3月
出版者
和文:
英文:
SICE
会議名称
和文:
英文:
開催地
和文:
英文:
アブストラクト
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 the most important to select a proper coordinate transformation. This paper plays a fundamental role in selecting a proper coordinate by revealing the system structure with respect to the 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.
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