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Nonlinear Control Systems: An Introduction
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TLDR
This chapter discusses the development of Geometric Theory of State Feedback for Multi-Input Multi-Output Systems and its applications in control systems.Abstract:
Contents: Local Decompositions of Control Systems.- Global Decompositions of Control Systems.- Input-Output Maps and Realization Theory.- Elementary Theory of Nonlinear Feedback for Single-Input Single-Output Systems.- Elementary Theory of Nonlinear Feedback for Multi-Input Multi-Output Systems.- Geometric Theory of State Feedback: Tools.- Geometric Theory of State Feedback: Applications.- Appendix A.- Appendix B.- Bibliographical Notes.- References.- Subject Index.read more
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Journal ArticleDOI
Functional expansions for nonlinear discrete-time systems
TL;DR: A method for obtaining a “discrete Volterra series” representation of the outputy(t) in terms of the controlsu(0), ...,u(t − 1) is presented, based on Taylor-type expansions of the iterated composition of analytic functions.
Uniting two Control Lyapunov Functions for affine systems (full version)
TL;DR: A sufficient condition is expressed to obtain an explicit solution to the problem of piecing together two control Lyapunov functions and this framework is applied on a numerical example to improve local performance of a globally stabilizing state feedback.
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Neural dynamic optimization for control systems. I. Background
Chang-Yun Seong,Bernard Widrow +1 more
TL;DR: The background and motivations for the development of NDO are described, while the two other subsequent papers of this topic present the theory of N DO and demonstrate the method with several applications including control of autonomous vehicles and of a robot arm, respectively.
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Structure at infinity, zero dynamics and normal forms of systems undergoing sliding motions
TL;DR: In this article, the structure at infinity of non-linear closed-loop systems locally undergoing sliding regimes about a smooth surface defined in state space is examined, and the stability properties of this internal behaviour model are studied.
Journal ArticleDOI
Sliding-Mode Control of Retarded Nonlinear Systems Via Finite Spectrum Assignment Approach
TL;DR: The proposed method is to design a sliding surface via the variable transformation used in the finite spectrum assignment and to derive a switching feedback law, which contains the past values of the state variables in the original coordinates.