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Non-regular feedback linearization of nonlinear systems via a normal form algorithm
KTH, School of Engineering Sciences (SCI), Mathematics (Dept.), Optimization and Systems Theory. KTH, School of Computer Science and Communication (CSC), Centres, Centre for Autonomous Systems, CAS.ORCID iD: 0000-0003-0177-1993
2004 (English)In: Automatica, ISSN 0005-1098, E-ISSN 1873-2836, Vol. 40, no 3, 439-447 p.Article in journal (Refereed) Published
Abstract [en]

In this paper, the problem of non-regular static state feedback linearization of affine nonlinear systems is considered. First of all, a new canonical form for non-regular feedback linear systems is proposed. Using this form, a recursive algorithm is presented, which yields a condition for single input linearization. Then the left semi-tensor product of matrices is introduced and several new properties are developed. Using the recursive framework and new matrix product, a formula is presented for normal form algorithm. Based on it, a set of conditions for single-input (approximate) linearizability is presented.

Place, publisher, year, edition, pages
2004. Vol. 40, no 3, 439-447 p.
Keyword [en]
linearization, singular state feedback, normal form, semi-tensor, product of matrices
National Category
Information Science
URN: urn:nbn:se:kth:diva-23167DOI: 10.1016/j.automatica.2003.10.014ISI: 000188924200010ScopusID: 2-s2.0-1642525819OAI: diva2:341865

QC 20100525

Available from: 2010-08-10 Created: 2010-08-10 Last updated: 2016-05-30Bibliographically approved

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Hu, Xiaoming
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