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A sampled normal form for feedback linearization

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Abstract

This paper discusses the problem of preserving approximated feedback linearization under digital control. Starting from a partially feedback linearizable affine continuous-time dynamics, a digital control procedure which maintains the dimension of the maximally feedback linearizable part up to any order of approximation with respect to the sampling period is proposed. The result is based on the introduction of a sampled normal form, a canonical structure which naturally appears when studying feedback linearization.

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Authors and Affiliations

  1. Laboratoire des Signaux et Systémes, CNRS/ESE, Plateau de Moulon, 91190, Gif sur Yvette, France

    J. P. Barbot & D. Normand-Cyrot

  2. Dipartimento di Informatica e Sistemistica, Università di Roma “La Sapienza”, 18 Via Eudossiana, 0018, Roma, Italy

    S. Monaco

Authors
  1. J. P. Barbot
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  2. S. Monaco
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  3. D. Normand-Cyrot
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Additional information

This work was supported by an Italian 40% M.U.R.S.T. grant and a French M.E.N.-D.R.E.D. grant.

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Barbot, J.P., Monaco, S. & Normand-Cyrot, D. A sampled normal form for feedback linearization. Math. Control Signal Systems 9, 162–188 (1996). https://doi.org/10.1007/BF01211752

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  • DOI: https://doi.org/10.1007/BF01211752

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