Abstract
AbstractSeveral algorithms in nonlinear control require Lie derivatives. The symbolic computation using computer algebra software is straightforward. However, the applicability of symbolic computation in nonlinear control is limited due to a considerable increase of the sizes of higher order derivatives. This problem can be circumvented using an alternative computation technique for derivatives called algorithmic differentiation. We extend existing approaches to calculate mixed Lie derivaties. (© 2010 Wiley‐VCH Verlag GmbH & Co. KGaA, Weinheim)
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