Using tangent linearised control systems for the feedback control of nonlinear systems (Q5939349)

This paper offers a description of how tangent linearized control systems can be used for tackling nonlinear control problems. The method proposed by the author is especially suited to designing closed-loop control. Nonlinear control problems are reduced to linear time-varying control problems which can be solved, for example, by LQ optimal control or frozen-time control.NEWLINENEWLINENEWLINEThe author describes two alternative designs which rely on different control methods of the corresponding linearization. An example is provided for a specific highly nonlinear mechanical system.NEWLINENEWLINENEWLINEAdvantages of the author's approach include the absence of expensive numerical calculations and nonlinear transformations of the state variables. Also, requirements on the system to be controlled are nonrestrictive. Disadvantages include only a guarantee of local stability (for one implementation) or, alternatively, a requirement that the state variables do not change too fast (for another implementation).