Leith, D. J. and Leithead, W.E.
Input-Output Linearisation by Velocity-Based Gain-Scheduling.
International Journal of Control, 72.
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.
Repository Staff Only(login required)
||Item control page