Abstract
In this chapter we consider nonlinear control systems near a singular point, i.e., a common fixed point of the drift vector field and the control vector fields. Linearization at this point yields a bilinear system in ℝd; hence the linearized system is a special case of the general model considered in the preceding chapter. However, here we use an additional structure: The systems group is a Lie group and the usual Lie algebra rank condition for local accessibility implies that the systems group acts transitively on the projective space ℙd-1. Thus the projective space is a homogeneous space for the systems group. As observed in Proposition 4.5.21, this implies that the inner pair condition for a piecewise constant periodic control is satisfied everywhere on projective space, if and only if the corresponding element of the systems semigroup lies in the interior of this semigroup. This allows us to construct the control sets with nonvoid interior directly (without variation ρ of the control range and use of a ρ-inner pair condition). Furthermore, the relation between the control sets and the chain control sets in projective space can be made much more precise than in the general situation.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
Author information
Authors and Affiliations
Rights and permissions
Copyright information
© 2000 Springer Science+Business Media New York
About this chapter
Cite this chapter
Colonius, F., Kliemann, W. (2000). Linearization at a Singular Point. In: The Dynamics of Control. Systems & Control: Foundations & Applications. Birkhäuser, Boston, MA. https://doi.org/10.1007/978-1-4612-1350-5_7
Download citation
DOI: https://doi.org/10.1007/978-1-4612-1350-5_7
Publisher Name: Birkhäuser, Boston, MA
Print ISBN: 978-1-4612-7107-9
Online ISBN: 978-1-4612-1350-5
eBook Packages: Springer Book Archive