Exact transformations and decompositions of nonlinear models and their applications in automatic control

0352932 - ÚTIA 2011 RIV CZ eng O - Others
Čelikovský, Sergej
Exact transformations and decompositions of nonlinear models and their applications in automatic control.
2010
Institutional research plan: CEZ:AV0Z10750506
Keywords : Transformations and decompositions * automatic control * nonlinear systems * exact feedback linearization * underactuated mechanical systems * walking robot
Subject RIV: BC - Control Systems Theory

Exact transformations and decompositions of controlled dynamical systems has been intensively studied as an important part of control theory and its applications. One of the most important problems in this respect is the so-called exact feedback linearization method which enables to solve the control design for a given nonlinear system via its transformation into a simpler model, which would be at least partially linear one. In such a way it results into the decomposition of the original complex interconnected nonlinear model into a number of less complex subsystems with either simple or no connections between them. Typically, each linear part of this decomposition does not depend on the rest of the model and corresponds to some single output and single input component, while the nonlinear residuum is sufficient to be analyzed only qualitatively.
Permanent Link: http://hdl.handle.net/11104/0192313