A sampled normal form for feedback linearization

  • J. P. Barbot
  • S. Monaco
  • D. Normand-Cyrot
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Abstract

This paper discusses the problem of preserving approximated feedback linearization under digital control. Starting from a partially feedback linearizable affine continuous-time dynamics, a digital control procedure which maintains the dimension of the maximally feedback linearizable part up to any order of approximation with respect to the sampling period is proposed. The result is based on the introduction of a sampled normal form, a canonical structure which naturally appears when studying feedback linearization.

Key words

Nonlinear systems Sampled systems Digital control 
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Copyright information

© Springer-Verlag London Limited 1996

Authors and Affiliations

  • J. P. Barbot
    • 1
  • S. Monaco
    • 2
  • D. Normand-Cyrot
    • 1
  1. 1.Laboratoire des Signaux et SystémesCNRS/ESE, Plateau de MoulonGif sur YvetteFrance
  2. 2.Dipartimento di Informatica e SistemisticaUniversità di Roma “La Sapienza”RomaItaly

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