Input-Output Linearisation by Velocity-Based Gain-Scheduling

Leith, D. J. and Leithead, W.E. (1999) Input-Output Linearisation by Velocity-Based Gain-Scheduling. International Journal of Control, 72. pp. 229-246. ISSN 0020-7179

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The velocity-based analysis framework provides direct support for divide and conquer design approaches, such as the gain-scheduling control design methodology, whereby the design of a nonlinear system is decomposed into the design of an associated family of linear systems. The velocity-based gain-scheduling approach is quite general and directly supports the design of feedback configurations for which the closedloop dynamics are nonlinear. However, the present paper concentrates on the velocity-based design of controllers which, when combined with a nonlinear plant, attain linear closed-loop dynamics. The resulting approach is a direct generalisation to nonlinear systems of classical frequency-domain pole-zero inversion which is, in many ways, complementary to the Input-Output Linearisation approach. In particular the former is dynamic and reduces to open-loop inversion in the linear case whilst the latter is essentially static and utilises full state feedback.

Item Type: Article
Keywords: Input-Output Linearisation; Velocity-Based Gain-Scheduling;
Academic Unit: Faculty of Science and Engineering > Research Institutes > Hamilton Institute
Item ID: 1837
Depositing User: Hamilton Editor
Date Deposited: 12 Feb 2010 10:40
Journal or Publication Title: International Journal of Control
Publisher: Taylor & Francis
Refereed: Yes

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