Abstract
AbstractAn elegant approach to control nonlinear state‐space systems is the exact input‐to‐state linearization, where a nonlinear change of coordinates combined with a nonlinear feedback law yields a linear controllable system. In this contribution, we treat the single‐input case, where input‐to‐state linearizability is equivalent to flatness. Sufficient and necessary existence conditions are well‐known, but quite restrictive. We propose the design of a tracking controller for flat single‐input systems, where the explicit knowledge of the flat output is not required. Our approach is based on a series expansion of the tracking error along a given reference trajectory. The controller gain can even be computed for non‐flat systems with regular controllability matrix. (© 2012 Wiley‐VCH Verlag GmbH & Co. KGaA, Weinheim)
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