Finite Dimensional Koopman Form of Polynomial Nonlinear Systems*

Abstract

The Koopman framework is a popular approach to transform a finite dimensional nonlinear system into an infinite dimensional, but linear model through a lifting process using so-called observable functions. While there is an extensive theory on infinite dimensional representations in the operator sense, there are few constructive results on how to select the observables to realize them. When it comes to the possibility of finite Koopman representations, which are highly important from a practical point of view, there is no constructive theory. Hence, in practice, often a data-based method and ad-hoc choice of the observable functions is used. When truncating to a finite number of basis, there is also no clear indication of the introduced approximation error. In this paper, we propose a systematic method to compute the finite dimensional Koopman embedding of a specific class of polynomial nonlinear systems in continuous-time, such that the embedding can fully represent the dynamics of the nonlinear system without any approximation.