Approximate state-feedback linearization using spline functions
type: Item
instance of: scholarly article
title: Approximate state-feedback linearization using spline functions
zbMATH Open document ID: 0885.93011
DOI: 10.1016/S0005-1098(97)00070-8
author: Scott A. Bortoff
published in: Automatica
publication date: 1998-04-06T00:00:00Z
review text: A system \(\dot x=f(x)+ u\cdot g(x)\) is linearized in a neighborhood of the equilibrium manifold \(f(\overline x)+ \overline u\cdot g(\overline x)=0\) and begins with output function \(z_1=T_1(x)\). The first method extends a recursive algorithm to include splines, the second method is a compromise between gain-scheduling and approximate feedback linearization and uses the software Mathematica. The methods are demonstrated on a rotating inverted pendulum and acrobot-underactuated coplanar double pendulum examples.
reviewed by: A.Vaněček
Mathematics Subject Classification ID: 93B18
Mathematics Subject Classification ID: 93B40
zbMATH DE Number: 1081888
zbMATH Keywords: splines
zbMATH Keywords: gain-scheduling
zbMATH Keywords: approximate feedback linearization
describes a project that uses: Mathematica
MaRDI profile type: Publication
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description: scientific article; zbMATH DE number 1081888