Saved in:
| Main Authors: | , , , |
|---|---|
| Format: | Preprint |
| Published: |
2024
|
| Subjects: | |
| Online Access: | https://arxiv.org/abs/2406.00982 |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1866913375166922752 |
|---|---|
| author | Jindal, Ashutosh Nicolau, Florentina Diego, David Martin Banavar, Ravi |
| author_facet | Jindal, Ashutosh Nicolau, Florentina Diego, David Martin Banavar, Ravi |
| contents | Dynamic feedback linearization-based methods allow us to design control algorithms for a fairly large class of nonlinear systems in continuous time. However, this feature does not extend to their sampled counterparts, i.e., for a given dynamically feedback linearizable continuous time system, its numerical discretization may fail to be so. In this article, we present a way to construct discretization schemes (accurate up to first order) that result in schemes that are feedback linearizable. This result is an extension of our previous work, where we had considered only static feedback linearizable systems. The result presented here applies to a fairly general class of nonlinear systems, in particular, our analysis applies to both endogenous and exogenous types of feedback. While the results in this article are presented on a control affine form of nonlinear systems, they can be readily modified to general nonlinear systems. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2406_00982 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Constructing Dynamic Feedback Linearizable Discretizations Jindal, Ashutosh Nicolau, Florentina Diego, David Martin Banavar, Ravi Systems and Control Dynamic feedback linearization-based methods allow us to design control algorithms for a fairly large class of nonlinear systems in continuous time. However, this feature does not extend to their sampled counterparts, i.e., for a given dynamically feedback linearizable continuous time system, its numerical discretization may fail to be so. In this article, we present a way to construct discretization schemes (accurate up to first order) that result in schemes that are feedback linearizable. This result is an extension of our previous work, where we had considered only static feedback linearizable systems. The result presented here applies to a fairly general class of nonlinear systems, in particular, our analysis applies to both endogenous and exogenous types of feedback. While the results in this article are presented on a control affine form of nonlinear systems, they can be readily modified to general nonlinear systems. |
| title | Constructing Dynamic Feedback Linearizable Discretizations |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2406.00982 |