Abstract
The software system CONDENS was used to design output tracking controllers for several types nonlinear control systems. CONDENS, a symbolic manipulation software system based on differential geometry tools, uses feedback equivalence among nonlinear systems to linearize and thereby control certain classes of nonlinear control systems. Left and right invertibility of nonlinear systems is utilized to solve the output tracking problem. CONDENS makes these mathematical procedures available to users who may not have an extensive knowledge of differential geometry. Examples from attitude control and process control are considered. >
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